JPH08280003A - Stereoscopic photographing device - Google Patents

Abstract

PURPOSE: To quickly observe a stereoscopic viewing direction other than the forward direction of stereoscopic view with a simple operation in a stereoscopic photographing device for obtaining a stereoscopic image utilizing the parallax of both eyes. CONSTITUTION: A photograph, signal outputted from stereoscopic photographing device 21 is passed through a transmission/reception part, received on the side of a controller 13 and transmitted layer to an HMD 14 after image processing, and an operator observes that photographed image. When moving a mobile object 35 backward, an image signal for rear view fetched by a camera part 11B dedicated to viewing in specified direction, not by the camera part for stereoscopic viewing is projected on the HMD 14 and observed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic image capturing apparatus, and more particularly to a stereoscopic image capturing apparatus utilizing binocular parallax used for operating a moving body.

[0002]

2. Description of the Related Art As a method of obtaining a stereoscopic image, a method of obtaining a stereoscopic image by arranging two lenses and observing each image as left and right eyes as independent images,
A so-called binocular parallax stereoscopic image viewing method is generally used. The left and right independent images can be viewed as stereoscopic images on a head-mounted display (hereinafter, referred to as HMD), a liquid crystal shutter glasses-type reproducing device, a polarizing glasses-type reproducing device, or the like.

As a device for photographing and reproducing the parallax-type stereoscopic image, a control device for a stereoscopic television disclosed in Japanese Patent Publication No. 3-66878 has two rotary supports which rotate left and right on a platform. The camera is mounted on top of it. And a detector that detects the subject distance,
An operating mechanism for calculating a stereoscopic parallax angle, a focus of left and right lenses, and a zoom ratio using a distance signal from the detector as an input, and controlling the rotary support so that the parallax angle is obtained.
And an operating mechanism for controlling the turning amount of the platform in synchronization with the turning speed of the rotation support base by the amount by which the parallax angle changes. According to this device, when adjusting the zoom ratio, adjusting the focus, adjusting the parallax, and rotating the platform, the operation can be performed automatically while keeping the target object in the field of view, which shortens the operation time and burdens the operator. Can be reduced.

[0004]

[Problems to be Solved by the Invention] Japanese Patent Publication No. 3-668
Considering the case where the control device for a stereoscopic television disclosed in Japanese Patent No. 78 is applied as, for example, a monitoring imaging device mounted on a remote-controlled moving body, etc. When the operator needs to look in a direction other than the front because the moving body moves backward, bends, makes a U-turn, etc., the camera is turned in that direction, and the platform is turned. For example, in the case of backward movement, it is necessary to turn the platform by 180 °, and it takes time to turn. In addition, when turning, it is necessary to repeatedly look at the left, right, front, etc., which similarly takes an operation time.

The present invention has been made to solve the above-mentioned problems, and in a stereoscopic photographing apparatus for obtaining a stereoscopic image by utilizing binocular parallax, a simple operation in a direction other than the front of the stereoscopic direction is performed. Moreover, it is an object of the present invention to provide a device that enables quick observation.

[0006]

Means and Actions for Solving the Problems First of the Invention
The stereoscopic photographing apparatus of has a stereoscopic image camera for the left eye and a stereoscopic image camera for the right eye and obtains a stereoscopic image by utilizing binocular parallax. It is characterized in that a specific direction viewing means for viewing the specific direction is provided. In the stereoscopic imaging device, when observing a specific direction different from the front, the specific direction viewing means is used to observe the direction.

A second stereoscopic photographing apparatus according to the present invention is a special stereoscopic photographing apparatus in which the specific direction viewing means in the first stereoscopic photographing apparatus is capable of turning in a horizontal direction and is arranged to face substantially rearward in normal times. It is a camera. In the stereoscopic imaging device, the specific direction viewing means is positioned substantially rearward in normal times, and when performing an observation in a specific direction different from the front, the specific direction viewing means makes a horizontal turning observation.

According to a third stereoscopic photographing apparatus of the present invention, in the first stereoscopic photographing apparatus, at least one stereoscopic video camera for the left eye and the stereoscopic image for the right eye also functions as the specific-direction viewing means, and It is characterized in that it is arranged so that it can be turned up to. In the stereoscopic imaging apparatus, when performing the observation in a specific direction different from the front direction, the specific direction viewing unit observes one stereoscopic image camera while rotating the stereoscopic image camera in the specific direction.

According to a fourth stereoscopic photographing apparatus of the present invention, in the first stereoscopic photographing apparatus, a specific direction viewing means has a mirror for guiding subject information from a specific direction to one of the two stereoscopic video cameras. It is characterized by

In the stereoscopic photographing device, when observing in a specific direction different from the front, a subject image in the specific direction is reflected by a mirror and guided to one of two stereoscopic image cameras.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a system diagram of a remote control moving body system equipped with a stereoscopic photographing apparatus as a first embodiment of the present invention. FIG. 2 is a block configuration diagram of the stereoscopic photographing apparatus of the present embodiment, and FIG. 3 is a cross-sectional view of a camera unit of the stereoscopic photographing apparatus of the present embodiment.

This remote control mobile body system is shown as an example applied to a civil engineering machine, and the stereoscopic photographing device 21 is mounted on a mobile body 35 which is a self-propelled power shovel. A camera / moving body operation control signal output from the operation device 15 having a switch or the like operated by an operator is transmitted / received in the stereoscopic photographing device 21 from the transmission / reception unit in the control device via the control device 13. Sent to the department. Based on the camera and moving body operation control signal, the photographing operation of the stereoscopic photographing device 21, the operation of the camera unit, the moving operation of the moving body 35, and the like are performed. On the other hand, the photographing signal output from the stereoscopic photographing device 21 is received by the control device 13 side via the transmission / reception unit, is subjected to image processing, is then transmitted to the HMD 14, and is observed by the operator as a photographed image.

The stereoscopic photographing device 21 is for front photographing for stereoscopic photographing, is arranged substantially in parallel, and has two adjustable convergence angles, that is, a pair of photographing optical systems 1R, 1R.
Stereoscopic camera units 11R and 11L as a pair of right and left stereoscopic video cameras including L and CCD 2R and 2L
And a specific direction viewing camera section 11B for shooting in a specific direction different from the front direction, which is a rotatable specific direction viewing means having a built-in photographic optical system 1B and CCD 2B, and which is dedicated to specific direction viewing. have. Further, the right and left camera units 11R and 11L are driven by the convergence angles, and the camera driving circuit 22 which is one of the specific direction viewing means for rotationally driving the specific direction viewing camera 11B, and the camera units of the respective camera units. A camera detection circuit 23 for detecting a drive angle, an image pickup circuit 24 for processing an image pickup output from each camera section, a CPU 25 for controlling each control element, and the like are provided.

The operation device 15 is a specific direction view changeover switch group 15A for designating an observation direction by each of the camera sections, and includes a rear view switch SW51 for instructing rear view and a left direction for instructing left view. Directional switch SW52
And a right-view switch SW53 for instructing right-view and a forward-view switch SW54 for instructing front-view,
Further, a joystick or the like for instructing the moving direction of the moving body 35 is incorporated.

The control unit 13 controls the right and left camera units 11 transmitted from the stereoscopic photographing unit 21 via the transmitting / receiving unit.
An image in which the video signals from R and 11L are output to the HMD 14 as right and left stereoscopic video signals due to binocular parallax, and the video signal from the specific direction viewing camera unit 11B is also output to the HMD 14 as a specific direction viewing video signal. It includes a processing circuit 32 and an image reproducing circuit 33, and further includes a detection circuit 26 for an external input signal, and an image recording circuit 27 for recording image information on a recording medium 28.

Next, the structure of the camera section will be described in more detail. A pair of right and left stereoscopic camera unit 1
1R and 11L are arranged substantially parallel to each other in a horizontal direction at predetermined intervals, and are rotatably supported by the platform 12 for adjusting a convergence angle for capturing a stereoscopic image. The photographic optical systems 1R and 1L built in the stereoscopic camera units 11R and 11L include front-to-right first and left eye first group lenses 3R and 3L, respectively, as shown in the transverse sectional view of FIG. Two
Group lenses 4R and 4L, iris 5R and 5L, third group lenses 6R and 6L, and fourth group 7R and 7 for focusing.
L, low-pass filter / infrared cut filter 8R,
8L, a zoom, iris, and focus drive mechanism, and has the same configuration as a general lens barrel for movies.

On the other hand, the specific direction view camera section 11B has the same structure as the stereoscopic view camera section 11R or 11L, and is located at a rear position with respect to the camera sections 11R and 11L on the platform 12. It is arranged on a horizontal rotation base 38 that can be rotated 180 degrees in the horizontal, rearward, leftward, and rightward directions, that is, can be rotated, and is normally supported rearward.

As shown in the perspective view of FIG. 4, the rotary table 38 is mounted on a driven gear 37 which is rotationally driven by a drive motor 35 through a reduction gear 36, and is mounted on the rear, left side and right side. Rotate in each direction.

Next, the operation of the stereoscopic photographing device 21 of the present embodiment configured as described above will be described. In the stereoscopic state, the front direction view switch SW54 of the operation device 15 is turned on, and the right and left stereoscopic camera units 11R and 11L are moved forward with their optical axes O1 and O2 as shown in the plan view of FIG. The image is held in the direction, and the stereoscopic photographing state is set. Although the optical axis O3 of the specific-direction camera section 11B is directed rearward, it is in the inoperative state. Then, as shown in FIG. 6, on the LCD display right screen 41 and left screen 42 on the HMD 14, front right and left images with binocular parallax captured by the right and left stereoscopic camera units 11R and 11L. Are projected respectively.

Next, in order to move the moving body 35 backward, when it is necessary to observe the rear as a specific direction other than the front, the operator turns on the rear-view switch SW51. The CPU 25 activates the specific-direction viewing camera unit 11B in the rearward facing state. The LCD display right screen 41 and left screen 42 of the HMD 14 both display the same monaural screen, but as shown in FIG.
In the upper half screen 43a of 42, the specific direction view camera unit 11B
The mirror-effect-processed image in which the left and right of the captured image is reversed is displayed, and the right camera unit 1
The front image captured from 1R is displayed. However, the upper and lower screens 43a and 43b respectively have C
A half-size screen that is cut vertically from the full-size effective screen captured by the CD is fitted.

Next, the operation for observing the left side as the specific direction will be described. When it becomes necessary to observe the left side as a specific direction, the operator operates the left side view switch SW.
Turn on 52. The CPU 25 turns the specific-direction viewing camera unit 11B into an operating state and, at the same time, rotates it by 90 ° to the left as shown in FIG. 8, and sets its optical axis direction to O3B. H
The same screen as the monaural screen is displayed on the LCD display right screen 41 and the left screen 42 of the MD 14, but as shown in FIG. The left image captured from 11B is displayed. Further, the front half image captured by the right camera unit 11R is displayed on the lower half screen 44b. In addition,
Similarly, the upper and lower screens 44a and 44b are half screens in which the upper and lower parts in the vertical direction are cut.

Next, the operation for observing the right side as the specific direction will be described. When it becomes necessary to observe the left side as the specific direction, the operator switches the right direction switch SW.
Turn on 53. The CPU 25 turns the specific-direction viewing camera unit 11B into an operating state and, at the same time, rotates it by 90 ° to the right as shown in FIG. 10, and sets its optical axis direction to O3C.
The LCD display right screen 41 and the left screen 42 of the HMD 14 both display the same monaural screen, and as shown in FIG. 11, the screens 41 and 42 have an upper half screen 45a.
The image in the right direction captured by the specific direction viewing camera unit 11B is displayed. Further, the front image captured by the right camera unit 11R is displayed on the lower half screen 45b.
The upper and lower screens 45a and 45b are similarly halved screens that are cut vertically in the vertical direction.

As described above, according to the stereoscopic photographing apparatus of the present embodiment, in addition to the right and left camera units 11R and 11L for obtaining stereoscopic photographed images using binocular parallax, it is possible to turn in the horizontal direction. By providing the camera section 11B dedicated to the specific direction viewing provided with the rotating mechanism, the operator can immediately observe the desired direction. Further, since it is possible to observe the front and the specific direction at the same time with the HMD 14, it is possible to operate the moving body 35 reliably and easily.

Next, a stereoscopic photographing apparatus according to the second embodiment of the present invention will be described. The stereoscopic photographing apparatus of this embodiment is characterized in that one of a pair of right and left stereoscopic camera units for stereoscopic images is also used as a camera unit of a specific direction viewing means. It should be noted that only the different parts from the structure of the device of the first embodiment will be described, and common components will be denoted by the same reference numerals.

As shown in FIG. 12, the stereoscopic photographing apparatus 50 of this embodiment is for a pair of stereoscopic vision on a pan head 52, and has right and left camera sections 51R and 51L with adjustable convergence angles. However, as described above, the right camera unit 51R is used as the specific direction viewing means. This right camera unit 51R is
As shown in FIG. 13, it is rotated by 180 ° in the horizontal direction, and is supported via a horizontal rotation base 53 as one of specific direction viewing means in the right direction and the rear direction. This horizontal turntable 53
Is mounted on the platform 52 together with the camera unit 51R and is driven by a motor via a reduction gear. The camera unit 51
The R may be configured to be rotatable in the vertical direction, and the rear direction may be observed via the upper direction.

As the specific direction view changeover switch group for operating the stereoscopic photographing apparatus 50 of the present embodiment, the first switch
Of the fifteen specific direction view changeover switch group 15A of the embodiment, the switch SW52 for instructing the left side view is unnecessary,
It is assumed to have a rear-view switch SW51 for instructing rear-view, a right-view switch SW53 for instructing right-view, and a front-view switch SW54 for instructing front-view.

Next, the operation of the stereoscopic photographing apparatus 50 of the present embodiment constructed as described above will be explained. In the stereoscopic view state, the front view switch SW54 of the operating device 15 is turned on, and the optical axes O1 and O2 of the right and left camera units 51R and 51L are directed forward as shown in the plan view of FIG. The original state is maintained and the stereoscopic shooting state is set. And H
On the right screen 41 and the left screen 42 of the LCD screen on the MD 14, the right and left camera units 5 are provided as in the screen shown in FIG.
The images with frontal binocular parallax captured by 1R and 51L are displayed respectively.

When the operator observes the rear, which is a specific direction other than the front, when moving the moving body 35, he pushes the backward view switch SW51. The right camera section 1R is driven so that its optical axis direction is rotated by 180 ° from O1 by the horizontal rotation base 53, and its optical axis is directed to the rear side of O1C (FIG. 13).
reference). Although the same image is displayed on the screens 41 and 42 as a monaural screen, as shown in FIG. 14, the left half of the rear view image captured by the right camera unit 51R is reversed on the upper half screen 53a of the screen. The mirror effect image is displayed, and the left camera unit 51L is displayed on the lower half screen 53b of the screen.
The image of the front view captured by is displayed. However, in both the upper and lower screens, of the full-size vertical effective screen captured by the CCD, a screen having a size of 1/2 with the upper and lower parts cut is displayed.

Next, the operation for observing the right direction will be described. The specific direction view changeover switch group 15
Press the right-view switch SW53 of A. The optical axis of the right camera unit 51R is directed to the right side of O1B by the horizontal rotation base 53. The LCD screens 41 and 42 display the same image as a monaural screen, and the right half-view image captured by the right camera 51R is displayed on the upper half screen 54a of the screen as shown in FIG. A front-view image captured by the left camera unit 51L is displayed on the lower half screen 54b. However, both the upper and lower screen are C
A half-size screen is displayed with the top and bottom of the full-size CD cut.

As described above, according to the stereoscopic photographing apparatus 50 of the present embodiment, the pair of stereoscopic camera units 51R, 5R is provided.
By providing a rotation mechanism that allows one of the stereoscopic cameras of 1L to rotate, a video image in a specific direction that the operator wants to see is provided by an inexpensive and compact photographing device that does not have a camera unit dedicated to specific direction viewing. Can be displayed. Further, it is possible to simultaneously observe the forward-viewing image and the specific-direction viewing image by splitting one screen into upper and lower parts, so that the moving operation of the moving body and the like can be performed quickly and reliably.

The same effect can be obtained even if the rotation mechanism of the horizontal rotation base 53 of the right camera section 51R is attached to the left camera 51L so that it can turn in the opposite direction to the right camera section 51R. . Furthermore, by making both the right camera unit 51R and the left camera unit 51L rotatable, it is possible to display images in the rearward view and the left and right bidirectional views.

Next, a stereoscopic photographing apparatus according to the third embodiment of the present invention will be described. The stereoscopic photographing apparatus of this embodiment is also characterized in that one of the pair of right and left stereoscopic camera units for stereoscopic images is also used as the camera unit of the specific direction viewing means. ◎ Note that only the different parts from the structure of the device of the first embodiment will be described, and common components will be denoted by the same reference numerals.

As shown in FIG. 16, the stereoscopic photographing apparatus 60 of the present embodiment has an adjustable stereoscopic angle 1 on a platform 62.
It has a pair of right and left camera units 61R and 61L, and the right camera unit 61R is also used as a specific direction viewing means. The right camera unit 61R is supported via a vertical rotation base 67 as one of specific direction viewing means for rotating the camera unit 61R on the right side by a predetermined angle in the vertical direction as shown in the side view showing the operation state of FIG. ing. The rotary base 67 is composed of a drive motor 64 arranged in the platform 62 and a driven gear 66 fixed to the right camera unit 61R driven via the reduction gear 65.

Further, a mirror 63 as one of the specific direction viewing means is fixed to the rear in a slanted state at the upper front of the right camera section 61R. Vertical turntable 6
7, the right camera unit 61R is vertically rotated,
When the optical axis is located in the direction from O1 to O1B, it is within a range determined by the tilt angle of the mirror 63 and its size, which is ½ above the vertical angle of view of the right camera unit 61R. The rear image can be captured in the area. The width of the mirror 63 in the horizontal direction is a size corresponding to the width of the entire angle of view of the camera. Also, the mirror 63
As for the arrangement position above and below, the optical axis of the camera unit 61R is O.
The mirror 63 is positioned so that it does not appear in the camera in the stereoscopic view state facing 1. Further, when the right camera unit 61R is rotated to the position of the optical axis O1B, the mirror 63 is arranged so that the rear side is reflected without being disturbed by the camera unit 61R itself.
And the angle of rotation of the camera 61R upwards are set. That is, the mirror 63 constitutes an optical element that plays a role of guiding subject information from a specific direction to the camera unit 61R.

The specific direction view changeover switch group for operating the stereoscopic photographing apparatus 60 of the present embodiment is the first
Of the fifteen specific direction view changeover switch group 15A of the embodiment, the switch SW52 for instructing the left side view and the right view switch SW53 for instructing the right side view are unnecessary, and the rear view switch SW51 for instructing the rear view is provided. , A forward-view switch SW54 for instructing forward-view.

Next, the operation of the stereoscopic photographing apparatus 60 of the present embodiment having the above-mentioned structure will be described. In the stereoscopic view state, the front view switch SW54 of the operation device 15 is turned on, and the optical axes O1 and O2 of the right and left camera units 61R and 61L are directed forward as shown in the plan view of FIG. It is kept in the open state, and the stereoscopic shooting operation state is set. HMD
On the right screen 41 and the left screen 42 of the LCD screen on the screen 14, the left and right camera units 61R, 61R,
The images with frontal binocular parallax captured by 61L are displayed.

When the operator observes the rear, which is a specific direction other than the front, during the moving operation of the moving body 35, he pushes the backward view switch SW51. The right camera unit 61R is turned upward from O1 in the optical axis direction by the vertical turntable 67, and is directed to O1B (see FIG. 17). Screen 41, 42
The same video is displayed as a monaural screen on,
As shown in FIG. 18, a rear-view image captured by the right camera unit 61R is displayed on the upper half screen 68a of the screen, and a forward-view image captured by the left camera unit 61L is displayed on the lower half screen 68b of the screen. Is displayed. However,
The lower half screen 68b is a half size screen with the top and bottom cut out of the full-size vertical effective screen captured by the CCD of the left camera unit 61L. The upper half screen 68a is the upper half screen of the full-size screen captured by the CCD of the right camera unit 61R. The cut state of the upper half screen 68a is determined by the vertical dimension of the mirror 63, the rotation angle of the camera unit, and the like.

As described above, according to the stereoscopic photographing apparatus of the present embodiment, of the stereoscopic right camera 61R and the left camera portion 61L, the right camera portion 61R is vertically swung upward. By providing the table 67 and the mirror 63 fixedly arranged on the upper front of the camera unit 61R, when the operator wants to see the rear, the rear can be observed only by rotating the right camera unit 61R upward. Therefore, the switching operation is fast, and it is possible to observe the front and the rear at the same time with a simple device and with a simple operation without separately providing a camera for exclusive use of the rear view. It can be done easily. The left camera unit 61
By providing a similar rotation mechanism on the L side, it is possible to provide a stereoscopic photographing apparatus having the same effect.

Next, a stereoscopic image pickup apparatus according to a fourth embodiment of the present invention will be described. The stereoscopic photographing apparatus of this embodiment is characterized in that both the pair of right and left stereoscopic camera units for stereoscopic images are also used as the camera unit of the specific direction viewing means. It should be noted that only the different parts from the structure of the device of the first embodiment will be described, and common components will be described with the same reference numerals.

In the stereoscopic image pickup device 70 of this embodiment, as shown in FIG.
As shown in FIG. 3, a pair of right and left camera units 71R and 71L for stereoscopic vision with adjustable convergence angles are arranged on the platform 72. The right and left camera units 71R and 71L are It is supported via right and left turning bases 74R and 74L as specific direction viewing means which are driven to rotate horizontally by a motor and a reduction gear. In addition, in front of the camera parts 71R and 71L,
At the left outer position, mirrors 73R and 73L are provided as specific direction viewing means, which are fixedly arranged in a posture perpendicular to the optical axis with the reflecting surface facing backward. It should be noted that the mirrors 73R and 73L are used when stereoscopic photography is performed from the front.
The respective mirrors are arranged at a relational position such that is not displayed on the right and left camera units 71R and 71L, that is, at a position outside the angle of view of the camera in the front view state.

When the camera section 71R is driven by the turntable 74R and turned clockwise by a predetermined angle as shown in the right camera turn state diagram of FIG. 20 (A), its optical axis becomes O.
Located in 1B. In this state, the subject light on the right rear side is reflected by the mirror 73R, and is captured by a vertical half angle of view and a horizontal half angle of view of the CCD of the camera unit 71R. In addition, the camera unit 71L is shown in FIG.
As shown in the left camera rotation state diagram of (A), when it is driven by the rotation base 74L and rotated by a predetermined angle in the counterclockwise direction,
Its optical axis is located at O2B. In this state, the subject light on the rear left side is reflected by the mirror 73L, and is taken in by a ½ angle of view in the vertical direction of the CCD of the camera unit 71L and further by a ½ angle of view in the horizontal direction. The size of the captured field angle is determined by the size of the mirror 73R or 73L.

The first specific direction view switch group for operating the stereoscopic photographing apparatus 70 of the present embodiment is the first switch group.
Of the fifteen specific direction view changeover switch group 15A of the embodiment, the switch SW52 for instructing the left side view and the right view switch SW53 for instructing the right side view are unnecessary, and the rear view switch for instructing the rearward view is provided as 2 Two switches, that is, a right rear view switch and a left rear view switch are provided, and a front view switch SW54 for instructing the forward view is provided.

Next, the operation of the stereoscopic photographing device 70 of the present embodiment having the above-mentioned structure will be described. In the stereoscopic state, the front view switch SW54 of the operation device 15 is turned on, and the optical axes O1 and O2 of the right and left camera units 71R and 71L are directed forward as shown in the plan view of FIG. The camera is held in the open state and the stereoscopic shooting state is set. HMD14
On the right screen 41 and the left screen 42 of the upper LCD screen, the right and left camera units 71R, 71 are arranged similarly to the screen shown in FIG.
The images with frontal binocular parallax captured by L are displayed respectively.

When the operator observes the right rear which is a specific direction other than the front when moving the moving body 35, the operator pushes the right rear view switch of the changeover switch group 15A. The right camera section 71R turns its optical axis direction from O1 to the right by a predetermined amount by the right turntable 74R and faces O1B (see FIG. 20).
(A)). The same image is displayed as a monaural screen on the right and left screens 41 and 42 of the HMD 14, but as shown in FIG. 20 (B), the 1/4 screen 75Ra at the top and left positions on the screen shows the right camera. 71R CCD mirror 7
A 3R-compatible right rear-view image is displayed. On the other screen 75Rb, the image of the 3/4 screen of the front view captured by the left camera unit 71L is displayed.

Similarly, when the operator wants to see the left rear while moving the moving body 35, he pushes the left rear view switch. The left camera section 71L turns its optical axis direction from O2 to the right by a predetermined amount by the left turntable 74L and faces O2B (see FIG. 21A). Right and left screens 41 and 4 of the HMD 14
The same image is displayed as a monaural screen on the screen 2, but as shown in FIG.
A left rear view image corresponding to the CCD mirror 73L of the left camera unit 71L is displayed on the / 4 screen 75La. On the other screen 75Lb, the image of the 3/4 screen of the front view captured by the right camera unit 71R is displayed.

As described above, in the stereoscopic photographing device 70 of this embodiment, the stereoscopic right and left camera units 71R and 71R are provided.
L, right and left turntables 74R and 74L capable of turning the right and left camera units to the right or left, and a mirror 73 fixedly arranged outside the front of the right and left camera units.
By providing the R and 73L, the operator can easily observe the left side or the right rear side. Moreover, it is possible to realize with a simple structure without newly installing a dedicated camera section for rear view, and the operation of the moving body is surely and easily performed.

In the description of the backward-viewing operation in the stereoscopic photographing apparatus of the fourth embodiment, it has been described that the right- and left-rearward-viewing states are operated separately for each side, but the present invention is not limited to this.
It is also possible to observe right and left simultaneously.

Next explained is a stereoscopic photographing apparatus according to the fifth embodiment of the invention. The stereoscopic photographing apparatus of this embodiment is characterized in that one of a pair of right and left stereoscopic camera parts for stereoscopic images is also used as a camera part of a specific direction viewing means. It should be noted that only the different parts from the structure of the device of the first embodiment will be described, and common components will be described with the same reference numerals.

In the stereoscopic image pickup apparatus 80 of this embodiment, as shown in FIG.
As shown in FIG. 3, a pair of right and left camera units 81R and 81L for stereoscopic vision with adjustable convergence angles are arranged on the platform 82. The right camera unit 81R is used as a specific direction viewing means. Also used. At the lower front position of the right camera unit 81R, a rotary mirror 83 that is rotatable about a horizontal axis 85 as a component of a specific direction viewing means, and further, at the same right camera unit 8
A fixed mirror 97, which is a component of the specific direction viewing means, is fixedly supported in an upper position in front of 1R in a tilted state.

The rotary mirror 83 is retracted outside the angle of view of the right camera section 81R when the apparatus is in a stereoscopic view. The fixed mirror 97 is always out of the angle of view. Then, when the device is in the rear view state, the rotating mirror 83
Enters the angle of view of the right camera unit 81R in a tilted state. In this state, as shown in the side view of the rear view state of FIG. 24A, the subject light behind is reflected by the fixed mirror 97, further reflected by the rotating mirror 83, and taken into the right camera unit 81R. Be done. In this case, the rotating mirror 8
3 and the size of the fixed mirror 97 determine the area taken in by the camera. That is, the subject light above the optical axis O1 in the camera section 81R is captured, and 1/2 of the vertical angle of view of the CCD is captured as an image.

Next, the drive mechanism of the rotating mirror 83 will be described with reference to the perspective view of FIG. Rotating mirror 8
3 is attached to a holding plate 84, and the holding plate 84
Is provided with a hole 84a through which a horizontal shaft 85 for rotating the rotating mirror 83 up and down penetrates at the end opposite to the mirror. The horizontal shaft 85 is fitted in the hole 84a of the holding plate and is attached to the base 82a of the platform 82. A pin 84b is planted on one side surface of the holding plate 84.

A lever 87 is attached to the pin 84b of the holding plate.
Slot 87a is inserted. Slot 87 for lever 87
A support hole 87b serving as a center of rotation in the direction opposite to a and a mounting hole 87c for the biasing spring 92 are provided in the vicinity of the support hole 87b. The lever 87 is rotatably supported by inserting a support hole 87 b into a support shaft 88 mounted on the base of the platform 82. The support shaft 88 of the lever 87
The axial position of is controlled by a cut washer 89 fitted to the support shaft 88.

One end of the urging spring 92 is attached to the attachment hole 87c of the lever 87, and the other end is attached to the base on the platform 82 side. A rotary plate 90 is rotatably supported by a support shaft 91 of the base of the platform 82 at a position behind the lever 87. On the rotary plate 90, a cam portion 90a and a blade portion 90b for contacting the lever 87 to drive the rotation thereof.
And a gear portion 90 to which the rotational power of the drive motor 94 is transmitted
c is provided. The rotation position of the rotary plate 90 is detected by the photo interrupter 93.

As the specific direction view changeover switch group for operating the stereoscopic photographing apparatus 80 of this embodiment, the first switch
Of the specific direction view changeover switch group 15A of the embodiment,
A switch that does not require a switch SW52 for instructing left-view and a right-view switch SW53 for instructing right-view, and includes a rear-view switch SW51 for instructing rear-view and a front-view switch SW54 for instructing front-view. And

Next, the operation of the stereoscopic photographing device 80 of the present embodiment having the above-mentioned structure will be described. In the stereoscopic view state, the front view switch SW54 of the operation device 15 is turned on, and the optical axes O1 and O2 of the right and left camera units 81R and 81L are directed forward as shown in the perspective view of FIG. The camera is held in the open state and the stereoscopic shooting state is set. HMD14
On the right screen 41 and the left screen 42 of the upper LCD screen, the right and left camera units 81R and 81 are arranged in the same manner as the screen shown in FIG.
The images with frontal binocular parallax captured by L are displayed respectively.

When the operator wants to look backward when moving the moving body 35, he pushes the backward view switch SW51. The motor 94 rotates in the direction a, the motor rotational force is transmitted from the gear portion 90c of the rotary plate, and the rotary plate 90 rotates in the direction b.
Then, the cam portion 90a of the rotating plate causes the end portion of the lever 87 to rotate clockwise around the support hole 87b. The holding plate 84 pivots upward in association with the lever 87 and stops at a predetermined position where the holding plate 84 enters the angle-of-view optical path of the right camera unit 81R. The stop position detection is performed by detecting the position of the blade 90b of the rotary plate 90 with the photo interrupter 93. In this state, the right camera 81R is fixed to the fixed mirror 9
7. A rear subject can be projected through the turning mirror 83.

At that time, the right and left screens 41 and 4 of the HMD 14
2 shows the same image as a monaural screen, but as shown in FIG. 24B, the upper half screen 95a of the screen shows a right rear view image taken by the right camera unit 81R, A forward-view image captured by the left camera unit 81L is displayed on the lower half screen 95b. However, both the upper and lower half screens 95a and 95b are half the vertical effective screen captured by the CCD.
However, the image of the right camera unit 81R is displayed upside down.

As described above, the stereoscopic photographing apparatus 80 of the present embodiment has the fixed mirror 97 fixedly arranged in the upper front part of the stereoscopic camera 81R and the rotating mirror arranged in the lower front part of the camera 81R. 83 and a rotating mechanism for rotating the rotating mirror 83 in the up-down direction, the operator can easily display a rear image when he / she wants to see the rear side. It is possible to provide a device that can be viewed rearward with a simple structure without newly installing a camera, and the operation of the moving body can be performed reliably and easily.

The same effect can be obtained by providing the left camera 81L for stereoscopic vision with a similar rotating mechanism. In addition, in the present embodiment, the rotating mirror 8
Although 3 is rotated in the vertical direction about the horizontal shaft 85 and moved, the mirror 83 may be supported by the vertical shaft and rotated in the horizontal direction.
Alternatively, it may be configured to move in parallel or linearly in the left-right direction.

Next, the automatic stereoscopic photographing apparatus of the sixth embodiment in which a specific direction view control means is added to the stereoscopic photographing apparatus of the first embodiment will be described. This device is a device capable of automatically performing specific direction viewing, and its block configuration is shown in FIG. In this device, when the operator moves the moving body 35 (see FIG. 1), the moving command input means 101 is provided with the moving command in the operating device 15.
To enter. This movement command may be automatically output when the gear is put in the back, for example. The movement direction information is sent from the movement command input means 101 to the specific direction view control means 102. The specific direction viewing control unit 102 instructs the specific direction viewing dedicated camera 11B to perform the specific direction viewing operation based on the moving direction information. Then, the LCD screen of the HMD 14 is controlled. The CPU 25 performs these controls.

Next, the automatic processing operation of the specific direction view in the apparatus of this embodiment will be described with reference to the flowchart of FIG. First, in step S1, it is checked whether or not the moving direction is input by the operator. When the moving direction is input, the moving direction is checked in step S2, and when the input moving direction is backward (reverse), that is, when the backward view switch SW51 is on, the specific-direction-view dedicated camera 11B determines the current backward view. Keep the direction and HM
The LCD screen of D14 is the screens 43a and 4 shown in FIG.
Switch to 3b. In the images on these screens, the camera 1
1B, the image of camera 11R is cut from the top and bottom, CCD
The size of each half of the vertical effective portion is projected, and the upper half of the screen is the rear-view image of the camera 11B and the lower half is the front-view image of the camera 11R. At this time, the same image is displayed on both the right and left screens of the LCD (monaural screen). This image screen allows you to check the front and rear fields of view at the same time.

In step S3, the input moving direction is checked and the switch to the left, that is, the left-view switch SW5 is checked.
When 2 is turned on, the camera 11B for specific direction viewing is moved to the left by 9
Turn 0 ° to make a left-side view. LCD of HMD14
The screen of is switched to the screen shown in FIG. The image of the camera 11B is shown on the upper half screen 44a, and the image of the camera 11R is shown on the lower half screen 44b. At this time, the same image is displayed on both the right and left (monaural screen). This image screen allows you to see the front and left fields of view at the same time.

In step S4, the input moving direction is checked and the switch to the right, that is, the right view switch SW5 is checked.
When 3 is on, the camera 11B for specific direction viewing is turned to the right 9
Turn to 0 ° and look to the right. LC of HMD14
The screen of D is switched to the screen shown in FIG. The image of the camera 11B for specific direction viewing is the upper half screen 45a.
In addition, the image of the camera 11R is shown on the lower half screen 45b.
Also at this time, the monaural screen showing the same image on both the right and left sides. This image screen allows you to check the front and right fields of view at the same time.

The process proceeds to step S5, and the forward view switch SW
When 54 is turned on, the forward-looking process is executed. In this case, the HMD 14 displays the screens 41 and 42 having the right and left parallaxes shown in FIGS. 6A and 6B.

Of the screens displayed on the LCD in steps S2, S3 and S4, the screen with a specific direction is
The size was 1/2, but this size is, for example, as shown in FIG.
It may be a reduced screen having a size of 0 or 1/4 as shown in FIG.

As described above, in the device of the present embodiment, in the device of the first embodiment, the specific direction view control means for automatically switching to the specific direction view based on the movement command from the operator. By adding 102, it is possible to automatically view a desired screen on the basis of the movement command and reduce the burden on the operator. The same effect can be obtained by adding the specific direction vision control means 102 to the third to fifth embodiments other than the first embodiment.

(Supplementary Note) Based on the above-described embodiment, the following stereoscopic photographing device can be proposed. That is, (1) In a stereoscopic imaging apparatus that has two stereoscopic video cameras for the left eye and the right eye and obtains a stereoscopic video by utilizing binocular parallax, a specification different from the front for obtaining the stereoscopic video In order to see the direction, at least one stereoscopic camera, a rotation mechanism capable of vertically rotating the stereoscopic camera, and a specific direction viewing means including one fixed mirror are provided. The stereoscopic imaging device. According to this stereoscopic imaging apparatus, it is possible to quickly observe a specific direction, and it is possible to minimize an increase in the number of constituent parts and cost.

(2) In a stereoscopic photographing apparatus which has two stereoscopic video cameras for the left eye and the right eye and obtains a stereoscopic video by utilizing binocular parallax, it is different from the front for obtaining the stereoscopic video. For viewing a specific direction, at least one stereoscopic camera, a rotation mechanism capable of turning the stereoscopic camera to the left and right, and a specific direction viewing means including one fixed mirror are provided. A stereoscopic imaging device characterized in that According to this stereoscopic imaging apparatus, it is possible to quickly observe a specific direction, and it is possible to minimize an increase in the number of constituent parts and cost.

(3) In a stereoscopic photographing apparatus that has two stereoscopic video cameras for the left eye and the right eye and obtains a stereoscopic video by utilizing binocular parallax, it is different from the front for obtaining the stereoscopic video. A moving mechanism for viewing a specific direction, which is capable of moving at least one of the stereoscopic cameras, two mirrors, and at least one of the mirrors outside the field of view of the stereoscopic camera. A stereoscopic photographing apparatus characterized in that a specific direction viewing means composed of is provided. According to this stereoscopic imaging apparatus, it is possible to quickly observe a specific direction, and it is possible to minimize an increase in the number of constituent parts and cost.

(4) In a stereoscopic photographing apparatus that has two stereoscopic video cameras for the left eye and the right eye and obtains a stereoscopic image by utilizing binocular parallax, it is different from the front for obtaining a stereoscopic image. A stereoscopic photographing apparatus comprising: a specific direction viewing means for viewing a specific direction; and a specific direction viewing control means for automatically switching to the specific direction viewing based on a movement command from an operator. According to this stereoscopic imaging device, it is possible to automatically view a desired screen on the basis of the movement command and reduce the burden on the operator.

[0071]

As described above, according to the stereoscopic photographing apparatus of the first aspect of the present invention, the operator uses the specific direction viewing means when observing a direction different from the observing direction of the stereoscopic image. You can respond quickly by
The operation time can be shortened and the operation can be simplified.

Further, according to the stereoscopic photographing apparatus of the second aspect of the present invention, when the operator wants to observe the rear side opposite to the observation direction of the stereoscopic image, the operator views in a specific direction facing backward. By using the means, observation can be performed quickly, and the operation time can be shortened and the operation can be simplified.

Further, according to the stereoscopic photographing apparatus of the third aspect of the present invention, when trying to observe a direction different from the viewing direction of the stereoscopic image, one of the cameras for the stereoscopic image observes the different direction. As a result, the operation time can be shortened, and at the same time, the imaging device to be configured can be simplified.

Further, according to the stereoscopic photographing apparatus of the fourth aspect of the present invention, when observing a direction different from the observing direction of the stereoscopic image, the subject information is guided to one of the stereoscopic image cameras via the mirror. Therefore, the operation time is extremely short.

[Brief description of drawings]

FIG. 1 is a system diagram of a mobile system for remote operation equipped with a stereoscopic imaging device according to a first embodiment of the present invention.

FIG. 2 is a block configuration diagram of the stereoscopic imaging apparatus of FIG.

FIG. 3 is a cross-sectional view of a camera unit of the stereoscopic imaging device in FIG.

FIG. 4 is a perspective view of a camera unit dedicated to specific direction viewing applied to the stereoscopic imaging apparatus of FIG.

5 is a stereoscopic view state of the stereoscopic imaging apparatus of FIG. 1, or
The top view which shows the state of a rear view.

FIG. 6 is an HMD in a stereoscopic view of the stereoscopic imaging apparatus of FIG.
Of the LCD screen, (A) shows the right screen and (B) shows the left screen.

FIG. 7 is an HMD of the stereoscopic imaging apparatus of FIG. 1 in a rear view state.
LCD screen.

FIG. 8 is a plan view showing a state of the stereoscopic imaging apparatus of FIG. 1 when viewed from the left.

9 is an HMD of the stereoscopic imaging apparatus of FIG. 1 in a left-viewing state.
LCD screen.

FIG. 10 is a plan view showing a state of the stereoscopic imaging apparatus of FIG. 1 when viewed from the right.

11 is an HM of the stereoscopic imaging apparatus of FIG. 1 in a left-viewing state.
LCD screen of D.

FIG. 12 is a perspective view of a stereoscopic imaging device according to a second embodiment of the present invention.

13 is a plan view of the stereoscopic imaging apparatus of FIG. 12 in a stereoscopic view state, a rightward view state, or a rearward view state.

FIG. 14 is an HM in the rear-viewing state of the stereoscopic imaging apparatus of FIG.
LCD screen of D.

FIG. 15 is a diagram showing H in the right-viewing state of the stereoscopic photographing apparatus of FIG. 12;
LCD screen of MD.

FIG. 16 is a perspective view of a stereoscopic imaging device according to a third embodiment of the present invention.

FIG. 17 is a side view showing a rotating state of the camera unit in the rear-viewing state of the stereoscopic imaging apparatus of FIG. 16.

18 is an H diagram of the stereoscopic image capturing apparatus of FIG. 16 when viewed from the rear.
LCD screen of MD.

FIG. 19 is a perspective view of a stereoscopic imaging device according to a fourth embodiment of the present invention.

FIG. 20 is a plan view of the operating state of the camera section, showing the state of the stereoscopic image capturing apparatus of FIG. 19 when viewed from the right rear;
(B) shows the LCD screen of the HMD.

21A and 21B show a state of the stereoscopic photographing apparatus of FIG. 19 as viewed from the left rear, FIG.
(B) shows the LCD screen of the HMD.

FIG. 22 is a perspective view of a stereoscopic photographing device according to a fifth embodiment of the present invention.

FIG. 23 is a perspective view of a mirror rotation mechanism of the stereoscopic imaging device of FIG. 22.

FIG. 24 is a rear view of the stereoscopic image capturing apparatus shown in FIG. 22, in which (A) is a plan view of the operating state of the camera section,
Shows the LCD screen of the HMD.

FIG. 25 is a block configuration diagram of a stereoscopic photographing apparatus according to a sixth embodiment of the present invention.

FIG. 26 is a flowchart of automatic processing for viewing a specific direction in the stereoscopic imaging apparatus of FIG. 25.

[Explanation of symbols]

11B ... camera for specific direction viewing (specific direction viewing means) 11L, 51L, 61L, 81L ... left stereoscopic camera (left eye stereoscopic video camera) 11R ... right stereoscopic camera (right eye) Stereoscopic video camera) 21, 50, 60, 70, 80 ... Stereoscopic imaging device 38, 53, 67 71R, 71L ... Rotating table (specific direction viewing means) 51R, 61R, 71R, 81R ... right Stereoscopic camera (stereoscopic image camera for right eye, specific direction viewing means) 63, 73R, 73L, 83, 97 …… Mirror (specific direction viewing means) 71L …… Left stereoscopic camera (stereoscopic for left eye) Image camera, specific direction viewing means) 87 Lever (specific direction viewing means) 90 Rotating plate (specific direction viewing means)

Claims (4)

[Claims] 1. A stereoscopic photographing apparatus having two stereoscopic video cameras for the left eye and the right eye, which obtains a stereoscopic video by utilizing binocular parallax, and a specification different from the front for obtaining the stereoscopic video. A stereoscopic photographing apparatus characterized in that a specific direction viewing means for viewing a direction is provided. 2. The stereoscopic photographing device according to claim 1, wherein the specific direction viewing means is a camera which can be horizontally swiveled and is arranged to face substantially rearward in a normal state. . 3. A stereoscopic image camera for at least one of the left eye and the right eye, which doubles as the specific direction viewing means, is disposed so as to be rotatable rearward. The stereoscopic imaging device described. 4. The stereoscopic photographing apparatus according to claim 1, wherein the specific direction viewing means has a mirror for guiding subject information from a specific direction to one of the two stereoscopic image cameras. .