JPH07193742A - Video camera - Google Patents

Abstract

PURPOSE:To attain programming for a video camera by an external input by providing the video camera with a communication means, a rewritable memory and a CPU for sequentially conducting a program written in the memory. CONSTITUTION:The feature data of a subject to be tracked are inputted by a PC 50 connected to a microcomputer 20 and a program is written in an EEPROM 20d. An input video is converted into a digital signal by a reference processing part 23 in the camera and the digital signal is sent to an image extracting part 24. The extracting part 24 retrieves and extracts colors and luminance matched with the conditions of the subject to be tracked. When the microcomputer 20 instructs an operation control part 30, the control part 30 controls the processing part 23 and a moving driver group 31. The microcomputer 20 inputs distance information up to a current subject from the processing part 23 by an automatic focusing function of the camera and controls the processing part 23 and the driver group 31 so as to continuously track the subject.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a video camera, and more particularly to a robot type video camera which can be intelligently operated by a program input from the outside of a user.

[0002]

2. Description of the Related Art Conventionally, when a moving object is automatically tracked by a video camera, as a means for detecting the position of the object, a sound wave or a radio wave having a constant frequency is transmitted from the object and received by the video camera. Or
As disclosed in Japanese Patent Laid-Open No. 4-97666,
Use multiple microphones to find the direction of the sound source,
A technique has been proposed in which the optical axis of a camera is moved in that direction.

As an image extraction method for image recognition of a video camera, for example, a technique of "image extraction by a sequential growth method" has been proposed.

[0004]

When an automatic tracking system for an object is constructed by using the above-mentioned conventional technique, a person or an object as an object must have a transmitter, or must make some sound. Not only that, but the range that the camera can take was also limited, so I could only track the subject at a specific location.

The present invention has been made in view of the above points,
The first purpose is that the input from the outside of the user
It is possible to program the video camera. A second object of the present invention is not only the sound source,
An object is to provide a video camera for tracking or finding a person or thing. The third object of the present invention is to
It is to provide a video camera capable of automatic tracking over a wider range and approaching a subject than ever before.

[0006]

According to the present invention, in order to achieve the first object, the video camera body has a communication means for exchanging data with the outside, a rewritable memory, and a memory. C that sequentially executes the written program
And PU (Central Processing Unit). Or a removable external RO that has a program written in advance
An M (Read Only Memory) can be mounted. Further, in order to achieve the above-mentioned second object, it has an image extraction processing circuit for extracting an object from a captured image and a microphone for capturing sound. Further, in order to achieve the third object, it has a moving means that can move freely. Furthermore, a camera equipped with a solar cell is provided with a means for detecting the remaining amount of power and a means for detecting a place or direction of high illuminance.

[0007]

In the present invention, the EEPROM (Electric Erasabl
An external personal computer (hereinafter referred to as a PC) using an electrically rewritable memory such as an e Programmable ROM), a flash memory, or a battery backup RAM (Random Access Memory) using communication means such as RS-232C. You can write the program from etc. The programs written in the memory are sequentially executed by the CPU.

Also, a removable ROM in which a program is written is mounted, and the program in the ROM is stored in the same CPU.
Can be executed with. To switch programs, a switch may be provided, or an external RO
It may be automatically determined that M is attached.

Further, by equipping the image extraction processing circuit as described on page 91 of the proceedings of the 93rd conference of the Television Society of Japan and the moving means, the image extraction processing circuit extracts an object. Since the position information etc. is output, the moving means is controlled so that the object is in the center,
Objects can be automatically tracked.

Further, by having a moving means equipped with a caterpillar and wheels, tracking in a wide range is possible. Furthermore, when it is detected that the remaining amount is smaller than the means for detecting the remaining amount of the power source, the means for detecting the place or direction of high illuminance and the moving means are used to automatically reach the place of high illuminance. By moving, the solar cell can be effectively operated and charged at high speed, which relieves the user of the hassle of battery replacement.

[0011]

The present invention will be described below with reference to the illustrated embodiments.

FIG. 1 is a perspective view showing a robot type video camera according to an embodiment of the present invention. In the figure,
Reference numeral 1 is a camera body, 2 is a traveling unit (moving means), and the camera body 1 is mounted on the traveling unit 2. Reference numeral 3 denotes an exterior panel of the camera body 1, and in the present embodiment, substantially the entire exterior panel or a part thereof is configured as a solar cell (solar cell panel) 4. The exterior panel 3 of the camera body 1 is equipped with an antenna 5 for wirelessly exchanging data with an external PC (personal computer) or the like.

FIG. 2A is an explanatory view seen from the side with a part of the robot type video camera of FIG. 1 removed and a part thereof cut away, and FIG. FIG. 3 is an explanatory view showing a main part of a traveling unit as seen from above with a part of the robot type video camera removed.

In FIG. 2A, reference numeral 6 is an image pickup section in the camera body 1, which is mounted on the carriage 9 of the traveling section 2. The image pickup section 6 is a vertical movement motor 7 and a fan gear. The angle can be swung up and down by 8.

Further, in FIG. 2B, reference numeral 10A denotes a right drive wheel rotatably held by the truck 9, which transmits the rotation of the right motor 11A attached to the truck 9 by a transmission gear 12A.
It is supposed to be received via. 13A is a right driven wheel rotatably held by the carriage 9, and the right driven wheel 13A is
The right side drive wheel 10A and the right side track 14A shown in FIG. Further, 10B is a left driving wheel rotatably held by the truck 9, and is adapted to receive rotation of a left motor 11B attached to the truck 9 via a transmission gear 12B. Reference numeral 13B denotes a left driven wheel rotatably held by the carriage 9, and the left driven wheel 13B and the left driving wheel 10B are provided with the left caterpillar 14B shown in FIG. Then, the right and left motors 11A, 11
Rotate B forward and backward as appropriate to the right and left track 1
By driving 4A and 14B, the robot type video camera is configured to allow forward / backward movement and left / right rotational movement.

Therefore, the image pickup unit 6 on the carriage 9 can capture an image at any angle and distance as an image by the above-mentioned vertical movement mechanism and the traveling unit 2.

In FIG. 2, reference numeral 15 is a main battery, 16A is a right microphone, 16B is a left microphone, and 17 is a speaker.

FIG. 3 is a block diagram showing a control system in the camera body 1. In the figure, reference numeral 20 denotes a microcomputer (hereinafter, referred to as a microcomputer 20) that controls the entire robot-type video camera, and includes a CPU 20a that is the main body of control, a ROM 20b that stores basic programs and fixed data, and various programs and RAM 20c that can read and write data or flags, and EEPROM 20d that can rewritably store various programs and data.
It is equipped with. Reference numeral 21 is a personal computer interface such as RS-232C. By connecting an external PC (personal computer) 50 to the personal computer interface 21 (communicably connected by wire or wirelessly), the external PC 50 and the microcomputer 20 can communicate with each other. It is said that.

Reference numeral 22 denotes an external ROM, which is, for example, a detachable cassette, which the user can replace according to the purpose. This external ROM 22
Includes an EEPROM for executing the operations described below.
A program similar to that written in 20d is written in advance, and the external ROM 2 is controlled under the control of the CPU 20a.
It is possible to execute the second program. The user may switch the programs of the EEPROM 20d and the external ROM 22 by operating a changeover switch (not shown), or by automatically detecting that the external ROM 22 is mounted and mounting the program. In this case, the program in the external ROM 22 may be preferentially executed. In addition, by storing the game software program and the like in the external ROM 22 and mounting this ROM cassette,
It is also possible to enjoy the game.

Reference numeral 23 is a basic processing unit of the camera, which appropriately processes an input video signal from the image pickup unit 6 having a lens and an image pickup device, and outputs the processed signal to the image extraction unit 24, illuminance determination unit 26, and the outside. Output to the output unit 27 and the like. Image extraction unit 24
Receives a digital video signal from the basic processing unit 23 of the camera, extracts a subject that meets a predetermined condition, outputs the extraction result to the comparison and determination unit 25, and the comparison and determination unit 25 determines whether or not the target subject. Then, the determination result is sent to the microcomputer 20. The illuminance determination unit 26 is the basic processing unit 23 of the camera.
It receives an output signal relating to the illuminance from, determines whether the predetermined illuminance has been reached, and sends the determination result to the microcomputer 20. The external output unit 27 receives a video signal of an appropriate form from the basic processing unit 23 of the camera, and outputs the video signal to an external device under the control of the microcomputer 20.

Reference numeral 28 denotes a voice recognition unit, which appropriately compares the voice signals from the right microphone 16A and the left microphone 16B and outputs the comparison judgment result to the microcomputer 20.
Send to. Reference numeral 29 denotes a remaining amount determination unit that determines the remaining amount of electricity stored in the main battery 15 connected to the solar cell 4, and determines whether the voltage of the main battery 15 has dropped to a predetermined voltage value determined in advance, The determination result is sent to the microcomputer 20.

An operation control unit 30 controls the basic processing unit 23 of the camera under the control of the microcomputer 20 and a group of movement drivers for driving the vertical movement motor 7, the right motor 10A, and the left motor 10B. Control 31. Also, 32
Is a voice synthesizer, which generates a voice signal under the control of the microcomputer 20 and outputs it from the speaker 17.

Next, one example of the operation of this embodiment having the above-mentioned configuration will be described with reference to the processing flow of FIG.

First, in step ST1, the user uses the PC 50 connected to the microcomputer 20 to input the characteristic data (color, brightness, shape, etc.) of the object to be tracked and write the program in the EEPROM 20d. Next, by instructing the microcomputer 20 to disclose the operation of the video camera based on the program written in the EEPROM 20d (step ST2), the microcomputer 20 starts the "search mode" operation.

As an initial operation of the "search mode", the traveling unit 2 moves an obstacle up and down while swinging the angle of the imaging unit 6 up and down until the imaging unit 6 finds the data of the set data (the subject to be tracked). Avoid them and move around randomly to find the desired subject (step ST3). As a method of avoiding an obstacle, for example, the distance between the video camera and the obstacle is determined by the automatic focus of the camera, and a predetermined distance (for example, 5
When approaching to 0 cm), the video camera is made to change course.

The input image at this time is converted into a digital signal by the basic processing unit 23 of the camera and sent to the image extraction unit 24. The image extraction unit 24 searches for a subject whose conditions regarding the color and luminance match, and if there is one that satisfies the conditions of the subject, extracts this and sends the extracted data to the comparison determination unit (step ST4). The comparison determination unit 25 uses the extracted data to further compare whether conditions such as a shape match the data of the subject to be tracked to determine whether the subject is the target subject (step ST).
5).

If it is determined in step ST5 that the subject is to be tracked (YES in step ST5), the microcomputer 20 switches from the "search mode" to the "tracking mode". Then, in the "tracking mode" operation, the microcomputer 20 commands the operation control unit 30 so that the subject is always located at the center of the screen imaged by the image pickup unit 6, and the basic processing unit 23 and the moving unit of the camera are moved. Controls the driver group 31,
The directions of the imaging unit 6 and the camera body 1 are aligned, and the distance between the subject and the video camera is adjusted until a predetermined distance (this is input as data in advance) is reached (steps ST6 to ST10). .

Here, one example of the tracking method will be described in detail. For example, when trying to make a video camera track a human face at a distance of 1 m, if you input the data "Track a light skin-colored egg-shaped object at 1 m intervals", the video camera described above. Find the subject as described above in "Search Mode". When the human face is positioned at the lower left in the image captured by the image pickup unit 6 when the mode is switched to the "tracking mode", the center of gravity g of the face is found, The direction of the image pickup unit 6 is changed for the vertical direction and the direction of the camera body unit 1 is changed for the horizontal direction so that the center of gravity g coincides with the center G of the screen.

Now, the image captured by the image pickup unit 6 is shown in FIG.
, The horizontal direction is the x-axis, the vertical direction of the screen is the y-axis,
Considering the xy coordinates where the upper left point of the screen is the origin (0, 0) and the coordinates of the lower right point of the screen are (X, Y), the coordinates of the center G of the screen are (X / 2, Y / 2 ). In the face contour, the smallest value in the x direction is (Xmin), the largest value is (Xmax), and the smallest value in the y direction is (Ymi).
n) If the largest value is (Ymax), the coordinates of the center of gravity g of the face are {(Xmin + Xmax) / 2, (Ymin
+ Ymax) / 2}. Therefore, the coordinates of the center of gravity g of the face should match the coordinates of the center G of the screen.

In FIG. 5, the extract (face) is located at the lower left of the screen, and comparing the coordinates of the point g and the point G in the x direction and the y direction, (Xmin + Xmax) / 2 <X /
2, (Ymin + Ymax) <Y / 2, so (X
min + Xmax) / 2 = X / 2, (Ymin + Yma)
x) = Y / 2, in accordance with a command from the microcomputer 20, the vertical movement motor 7 is moved to align the vertical direction of the image pickup unit 6 and the right motor 11A is rotated forward to align the horizontal direction. When the left motor 11B is rotated in the reverse direction, the camera body 1 faces the left and the human face can be captured at the center of the screen. If the face moves in the upper right direction, the vertical movement motor 7 is moved to make the angle of the imaging unit 6 upward, the right motor 11A is rotated in the reverse direction, and the left motor 11B is rotated in the normal direction. 1 turns to the right,
The human face can be centered on the screen.

Then, the microcomputer 20 fetches information on the distance to the current subject from the basic processing unit 23 of the camera by the automatic focus function of the camera, and moves backward if the distance is shorter than the set distance of 1 m and moves forward if it is far. The right and left motors 11A and 11B are rotated by a command from the microcomputer 20 so that the distance of 1 m is always maintained, and control is performed so that the subject is continuously tracked.

The image captured by the image pickup section 6 can be always viewed on the monitor of the user's TV or the like by the output from the external output section 27.
If the video camera tracks a different one, PC50
By sending an NG signal from, it returns to the "search mode" again and searches for a new object to track. Here, the video camera remembers the state at that time once it receives the NG signal, and does not repeat the same mistake when the next tracking command is given to the same one.

The video camera of this embodiment also has a function of detecting a sound source and automatically tracking the sound source. When the execution of the automatic tracking program by this sound is instructed, the microcomputer 20 uses the comparison determination data from the voice recognition unit 28 that compares the voice signals from the right microphone 16A and the left microphone 16B, The right and left motors 11A and 1A are arranged so that the difference in sound volume taken in by the left microphones 16A and 16B becomes small.
The right and left motors 11 are controlled so that the camera main body 1 is directed toward the sound source by driving and controlling the camera 1B, and the sound volumes taken in by the two microphones 16A and 16B are increased.
The cameras A and 11B are driven and controlled so that the camera body 1 approaches the sound source.

By providing the voice recognition unit 28 with a simple voice pattern recognition function and a command data selection / output function based on the recognized voice pattern, the user's call from the microphones 16A and 16B is called. Depending on the situation, it is possible to make the video camera take an action or make a reply via the voice synthesizer 32 and the speaker 17 in some cases.

Further, in the video camera of this embodiment, the main battery 15 is consumed and the main battery 1
It has a function of automatically charging the main battery 15 using the solar cell 4 when the voltage of 5 drops to a predetermined voltage.

FIG. 6 shows a processing flow of this automatic charging. In step ST21 of FIG. 6, when the remaining capacity determination unit 29 detects that the voltage of the main battery 15 has dropped to a predetermined voltage, the microcomputer 2
When 0 is being photographed, the photographing operation is stopped and then the automatic charging operation is started, and when the photographing is not being carried out, the automatic charging operation is directly performed. First, through the voice synthesizer 32 and the speaker 17. Then, a message such as "Juden Busokudes" is output to inform the user that the battery is insufficiently charged (step ST22). Next, the microcomputer 20
Reads the determination data from the illuminance determination unit 26 described above, and the location where the video camera is currently located is the solar cell 4
It is determined whether or not the brightness is enough to charge (step ST23), and if YES, the process proceeds to step ST24 to charge the main battery 15 by the solar cell 4, and at the same time, outputs a message such as "Judenchudes". If NO is determined in step ST23, while changing the optical axis of the image pickup unit 6 (while changing the direction of the camera body 1 by appropriately rotating the right and left motors 11A and 11B in the forward and reverse directions), the most. The right and left motors 11A and 11B are searched so as to find a bright place and then move the video camera to the brightest place found.
Is controlled (step ST25). Next, microcomputer 2
0 takes in the determination data from the illuminance determination unit 26, and determines whether or not the location after the movement is bright enough to charge the solar cell 4 (step ST26). If YES, the process proceeds to step ST24, and if NO. Step ST
Proceed to step 27 and output a message such as "Juden Dekimasen" to inform the user that charging is not possible.

Although FIG. 1 shows the structure of the traveling unit 2 using the tracks, the wheels can be substituted for the tracks according to the user's preference such as the condition of the road surface or the moving speed of the video camera. . As can be seen from FIG. 2, as a characteristic of the traveling unit (moving means) 2, the driving wheels are front on the right side and rear on the left side, so that, for example, as shown in FIG. Even in a wheeled vehicle, the right and left motors 11 can be provided without imparting a steering angle to the front or rear wheels.
The video camera body can be moved forward / backward or rotated simply by controlling the rotation speed and rotation direction of A and 11B.

[0038]

As described above, according to the present invention, firstly,
A program can be input to the video camera by external input using a PC (personal computer) or the like. Secondly, not only the sound source but also the image recognition of the video camera enables automatic tracking of a person or an object. And the third
Moreover, it is possible to provide a video camera capable of automatic tracking in a wide range and approaching a subject.

[Brief description of drawings]

FIG. 1 is a perspective view showing a robot type video camera according to an embodiment of the present invention.

2A is an explanatory view seen from the side with a part of the robot type video camera of FIG. 1 removed and a part thereof broken, and FIG. 2B is a robot type video camera of FIG. It is explanatory drawing which looked at the principal part of the traveling part from which a part of camera was removed.

FIG. 3 is a block diagram showing a control system in a camera body of the video camera shown in FIG.

FIG. 4 is a flowchart showing an example of a processing flow of a “search mode” and a “tracking mode” of the video camera according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram showing an xy coordinate diagram of an example of an image when the image capturing unit of the video camera according to the embodiment of the present invention is capturing an object.

FIG. 6 is a flowchart showing an example of an automatic charging process flow of the video camera according to the embodiment of the present invention.

FIG. 7 is a perspective view showing a robot type video camera according to a modification of the first embodiment of the present invention.

[Explanation of reference numerals] 1 camera body 2 traveling unit (moving means) 3 exterior panel 4 solar cell (solar cell panel) 6 imaging unit 7 vertical movement motor 9 dolly 10A right drive wheel 10B left drive wheel 11A right motor 11B left Motor 14A Right-hand caterpillar 14B Left-hand caterpillar 15 Main battery 16A Right-hand microphone 16B Left-hand microphone 17 Speaker 20 Microcomputer (microcomputer) 20a CPU 20b ROM 20c RAM 20d EEPROM 21 Personal computer interface 22 External ROM 23 Basic camera processing unit 24 Image extraction unit 25 Comparison determination unit 26 Illuminance determination unit 27 External output unit 28 Voice recognition unit 29 Remaining amount determination unit 30 Operation control unit 31 Movement driver group 50 External personal computer (personal computer; P
C)

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical indication location H04N 5/937 7/18 G (72) Inventor Tatsushi Nishimura 292 Yoshida-cho, Totsuka-ku, Yokohama-shi, Kanagawa Bunch Co., Ltd. Hitachi Media Imaging Media Laboratory

Claims (10)

[Claims] 1. A video camera having condensing means, photoelectric conversion means for converting the condensed light into an electric signal, and signal processing means for converting the electric signal into a desired video signal. Possible memory means, communication means for writing data to the memory means from the outside, and CP for sequentially executing programs written in part or all of the memory means
A video camera having U and. 2. The ROM according to claim 1, wherein the ROM in which the program is written is removable, and which of the electrically rewritable memory means and the removable ROM can be executed by switching can be selected. And a video camera. 3. The video camera according to claim 2, further comprising means for detecting that the ROM is mounted, and executing the program of the ROM when the ROM is mounted. 4. A removable ROM in a video camera having a condensing means, a photoelectric converting means for converting the condensed light into an electric signal, and a signal processing means for converting the electric signal into a desired video signal. And a CPU that sequentially executes programs written in the ROM. 5. A video camera having a condensing means, a photoelectric converting means for converting the condensed light into an electric signal, and a signal processing means for converting the electric signal into a desired video signal, wherein an object is extracted. A video camera comprising an image extraction processing means for outputting position information of the extracted object and a moving means, and having a function of automatically tracking the extracted object. 6. A video camera having a condensing unit, a photoelectric conversion unit for converting the condensed light into an electric signal, and a signal processing unit for converting the electric signal into a desired video signal, wherein an object is extracted. A video camera comprising an image extraction processing means for outputting size information of the object and a moving means, and having a function of automatically tracking the extracted object. 7. A video camera having a light collecting means, a photoelectric converting means for converting the collected light into an electric signal, and a signal processing means for converting the electric signal into a desired video signal, wherein a sound is sensed. A video camera having a voice input means for searching the direction of a sound source and a moving means, and having a function of automatically tracking an object emitting a voice. 8. The image pickup device according to claim 5, further comprising an image pickup unit that outputs distance information between the object to be tracked and a video camera, and has a function of automatically tracking the object while maintaining a predetermined distance. Video camera characterized by. 9. A video camera having a condensing means, a photoelectric conversion means for converting the condensed light into an electric signal, and a signal processing means for converting the electric signal into a desired video signal. A photoelectric conversion unit for converting into energy, a storage unit for storing the converted electric energy, a unit for detecting the amount of stored electricity of the storage unit, a unit for detecting a place or direction of high illuminance, and a moving unit. A video camera, which has a function of moving to a place with high illuminance when the amount of stored electricity is below a certain value. 10. The video camera according to claim 5, further comprising an image pickup unit that outputs distance information to an obstacle existing in a picked-up image when the video camera is moving. A video camera having a function of changing a course so as not to come into contact with an obstacle when approaching a predetermined distance.