JPH0837615A - Mobile object photographing device - Google Patents
Mobile object photographing deviceInfo
- Publication number
- JPH0837615A JPH0837615A JP6170627A JP17062794A JPH0837615A JP H0837615 A JPH0837615 A JP H0837615A JP 6170627 A JP6170627 A JP 6170627A JP 17062794 A JP17062794 A JP 17062794A JP H0837615 A JPH0837615 A JP H0837615A
- Authority
- JP
- Japan
- Prior art keywords
- camera
- moving body
- signal processing
- tracking
- tracking camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Closed-Circuit Television Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は自動的に移動体を追尾し
つつ撮影する移動体撮影装置に関し、特に離着陸する航
空機など予めコースの決まった移動体をズームアップし
て撮影する移動体撮影装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving body photographing apparatus for automatically photographing a moving body, and more particularly to a moving body photographing apparatus for zooming up and photographing a moving body of a predetermined course such as an aircraft taking off and landing. Regarding
【０００２】[0002]
【従来の技術】従来のこの種の移動体を撮影するには第
１の方法として人がカメラを操作して撮影するか若しく
は、第２の方法として視野を分担した複数の固定の監視
用カメラの画像を複数の表示装置でそれぞれ表示する
か、１台の表示装置の画面を分割してそのまま同時に表
示するものであった。2. Description of the Related Art A conventional method for photographing a moving body of this type is as follows. First, a person operates a camera to photograph, or as a second method, a plurality of fixed surveillance cameras sharing a field of view. The image of (1) is displayed on each of a plurality of display devices or the screen of one display device is divided and simultaneously displayed as it is.
【０００３】[0003]
【発明が解決しようとする課題】前述した従来の移動体
を撮影する第１の方法は人がカメラを操作しなければな
らず、無人化が計れない欠点を有していた。また、第２
の方法は無人ではあるが、移動体が小さく撮影されズー
ムアップして撮影できない欠点があった。The above-mentioned first method for photographing a moving body has a drawback in that a person must operate a camera, which makes unmanned operation impossible. Also, the second
This method is unmanned, but it has the drawback that the moving body is so small that it cannot be zoomed in for shooting.
【０００４】[0004]
【課題を解決するための手段】本発明の移動体撮影装置
は、視野を分担した複数の固定の監視用カメラと、旋回
台に搭載した追尾用カメラと、監視用カメラの画像信号
を信号処理して移動体の角度方向を得るための信号処理
装置とを含み、信号処理装置で得た移動体の角度方向に
追尾用カメラが向くように旋回台を駆動する。According to the present invention, there is provided a moving object photographing apparatus, wherein a plurality of fixed surveillance cameras sharing a field of view, a tracking camera mounted on a swivel base, and a signal processing of image signals of the surveillance camera. And a signal processing device for obtaining the angular direction of the moving body, and drives the swivel so that the tracking camera faces the angular direction of the moving body obtained by the signal processing device.
【０００５】[0005]
【実施例】次に本発明について図面を参照して説明す
る。図１は本発明の構成の一実施例である。The present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment of the configuration of the present invention.
【０００６】図１において、１は監視用カメラであり、
視野を分担した複数（本実施例では３個）の固定のカメ
ラ１１，１２，１３を角度を各々変えて内蔵したもので
ある。監視用カメラ１を構成するカメラ１１〜１３は各
々ＣＣＤカメラ１１１と固定レンズ１１２で構成されて
いる。各カメラから得られた画像信号は、信号処理装置
４に入力され信号処理され、移動体のみを抽出し、移動
体の角度情報を得る。信号処理装置４の信号処理の移動
体のみを抽出する方法としては、例えば現在の画面と直
前の場面との差分を求めて背景などの静止物を消去する
方法がある。信号処理装置４で得られた角度信号は、追
尾用カメラ２を搭載した旋回台３に入力され、追尾用カ
メラ２の回転角度を制御する。この結果、追尾用カメラ
２は、被写体である移動体６に常に向けていることが出
来る。図２は、監視用カメラ１および追尾用カメラ２と
滑走路７上を移動する移動体６との各度関係を示した図
である。カメラ１１，１２，１３の視野はできる限り広
範囲の移動体を監視できるよう広い角度範囲を各カメラ
で分担している。また、追尾カメラ２は、移動体を正確
に撮影するため、カメラ１１〜１３の角度範囲より小さ
い範囲に設定されている。In FIG. 1, reference numeral 1 is a surveillance camera,
A plurality (three in the present embodiment) of fixed cameras 11, 12 and 13 sharing the field of view are incorporated at different angles. Each of the cameras 11 to 13 constituting the surveillance camera 1 is composed of a CCD camera 111 and a fixed lens 112. The image signal obtained from each camera is input to the signal processing device 4 and signal-processed, only the moving body is extracted, and the angle information of the moving body is obtained. As a method of extracting only the moving object of the signal processing of the signal processing device 4, for example, there is a method of obtaining a difference between the current screen and the immediately preceding scene and erasing a stationary object such as a background. The angle signal obtained by the signal processing device 4 is input to the swivel base 3 equipped with the tracking camera 2 to control the rotation angle of the tracking camera 2. As a result, the tracking camera 2 can always be aimed at the moving body 6 which is the subject. FIG. 2 is a diagram showing the respective relationships between the surveillance camera 1 and the tracking camera 2 and the moving body 6 moving on the runway 7. The fields of view of the cameras 11, 12, and 13 are shared by each camera in a wide angle range so that a wide range of moving objects can be monitored. Further, the tracking camera 2 is set to a range smaller than the angular range of the cameras 11 to 13 in order to accurately image the moving body.
【０００７】ここで、監視用カメラ１および追尾用カメ
ラ２とは、監視カメラ１より得られる角度情報を追尾用
カメラ２でそのまま使用できるよう両者の設定位置を追
尾用カメラ２でそのまま使用できるよう両者の設置位置
は同一地点となる。Here, the monitoring camera 1 and the tracking camera 2 are arranged so that the set positions of both can be used as they are so that the angle information obtained from the monitoring camera 1 can be used as it is in the tracking camera 2. Both installation positions are the same.
【０００８】しかし、両者が離れていたとしても、監視
用カメラ１から得られた角度情報に対して追尾用カメラ
２で両者の離隔距離による角度補償をすれば移動体６の
検出ができる。However, even if the two are separated, the moving body 6 can be detected if the tracking camera 2 performs angle compensation on the angle information obtained from the surveillance camera 1 by the separation distance between the two.
【０００９】すなわち、図５は、簡単のため監視用カメ
ラ１と追尾用カメラ２とが滑走路７と平行にＬ′だけ離
れて設置された場合について移動体６との角度関係を示
したものである。監視用カメラ１と移動体６との角度を
θ，追尾用カメラ２と移動体６との角度をθ′とする
と、That is, FIG. 5 shows the angular relationship with the moving body 6 when the surveillance camera 1 and the tracking camera 2 are installed parallel to the runway 7 and separated by L'for simplicity. Is. If the angle between the monitoring camera 1 and the moving body 6 is θ, and the angle between the tracking camera 2 and the moving body 6 is θ ′,
【００１０】 [0010]
【００１１】という関係式が成り立ち、Ｌ′をもとに角
度補償ができる。ここで追尾用カメラ２の構成にＣＣＤ
カメラ１１１と望遠レンズ１１４を用い、追尾用カメラ
２の出力信号を表示装置５へ入力することにより表示装
置５に拡大した被写体の映像が得られる。The relational expression is established, and angle compensation can be performed based on L '. Here, a CCD is added to the structure of the tracking camera 2.
By inputting the output signal of the tracking camera 2 to the display device 5 using the camera 111 and the telephoto lens 114, an enlarged image of the subject can be obtained on the display device 5.
【００１２】また、図３は、本願発明の第二の実施例を
示す。FIG. 3 shows a second embodiment of the present invention.
【００１３】本実施例は、図２の追尾用カメラ２の望遠
レンズ１１３をズームレンズ１１４にした点とズームレ
ンズ１１４の倍率を制御するズーム制御回路１１５を設
けた点を除いて、図２の構成と同一である。本実施例を
移動体６が滑走路７を離着陸する航空機の場合に適用す
る。図４は、監視用カメラ１及び追尾用カメラ２と移動
体６との位置関係を示す図である。本図において、滑走
路７のコースは通常直線的であり、しかもカメラとの距
離Ｌは、決まっているため追尾カメラ２で得られた角度
θとすると本追尾カメラ２と移動体６までの距離ｌはＬ
／ｃｏｓθで与えられる。ズーム制御回路１５は、この
距離信号を用いて追尾カメラ２のズームレンズ１１４の
倍率を自動的に制御する。一方、移動体６のコースが決
っていない場合は、監視用カメラ１の画像信号を用い
て、信号処理装置４により移動体６の大きさ（画面上の
面積）を求め、ズーム制御回路１５は、この情報でズー
ムレンズ１１３の倍率を制御する。This embodiment is different from that shown in FIG. 2 except that the telephoto lens 113 of the tracking camera 2 shown in FIG. 2 is a zoom lens 114 and a zoom control circuit 115 for controlling the magnification of the zoom lens 114 is provided. The configuration is the same. This embodiment is applied to the case where the moving body 6 is an aircraft that takes off and lands on the runway 7. FIG. 4 is a diagram showing a positional relationship between the monitoring camera 1 and the tracking camera 2 and the moving body 6. In this figure, the course of the runway 7 is usually linear, and since the distance L to the camera is fixed, the distance between the main tracking camera 2 and the moving body 6 is the angle θ obtained by the tracking camera 2. l is L
/ Cos θ. The zoom control circuit 15 automatically controls the magnification of the zoom lens 114 of the tracking camera 2 using this distance signal. On the other hand, when the course of the moving body 6 is not determined, the size (area on the screen) of the moving body 6 is obtained by the signal processing device 4 using the image signal of the monitoring camera 1, and the zoom control circuit 15 The magnification of the zoom lens 113 is controlled by this information.
【００１４】[0014]
【発明の効果】以上発明したように本発明によれば、視
野を分担した複数の固定の監視用カメラの画像信号から
被写体である移動体の角度方向を検出し、この方向に自
動で追尾用カメラを向けるようにしたので無人でズーム
アップした被写体の撮影が行える。また、被写体の距離
または大きさで追尾用カメラのズームレンズの倍率をか
えることで、実質的に一定の大きさで被写体を撮影する
ことが出来る。As described above, according to the present invention, the angular direction of a moving object, which is a subject, is detected from the image signals of a plurality of fixed monitoring cameras that share the field of view, and the tracking is automatically performed in this direction. Since the camera is pointed, it is possible to shoot the subject zoomed up unattended. Further, by changing the magnification of the zoom lens of the tracking camera depending on the distance or size of the subject, the subject can be photographed with a substantially constant size.
【図１】本発明の第一の実施例を示す図である。FIG. 1 is a diagram showing a first embodiment of the present invention.
【図２】本発明の各カメラの視野の関係を示す図であ
る。FIG. 2 is a diagram showing the relationship between the visual fields of the cameras of the present invention.
【図３】本発明の第二の実施例を示す図である。FIG. 3 is a diagram showing a second embodiment of the present invention.
【図４】本発明の各カメラと移動体との位置関係を示す
図である。FIG. 4 is a diagram showing a positional relationship between each camera of the present invention and a moving body.
【図５】本発明の各カメラと移動体との位置関係を示す
図である。FIG. 5 is a diagram showing a positional relationship between each camera of the present invention and a moving body.
１ 監視用カメラ ２ 追尾用カメラ ３ 旋回台 ４ 信号処理装置 ５ 表示装置 ６ 移動体 ７ 滑走路 １１，１２，１３ カメラ １１１ ＣＣ２カメラ １１２ 固定レンズ １１３ 望遠レンズ １１４ ズームレンズ １１５ ズーム制御回路 1 monitoring camera 2 tracking camera 3 swivel 4 signal processing device 5 display device 6 moving body 7 runway 11, 12, 13 camera 111 CC2 camera 112 fixed lens 113 telephoto lens 114 zoom lens 115 zoom control circuit
Claims (7)
れた監視用カメラと、所定の角度を入力して回転する旋
回台に搭載した追尾用カメラと、前記監視用カメラの画
像信号を信号処理して移動体と前記監視カメラ又は前記
追尾カメラとの角度情報を検出する信号処理装置とを具
備する移動体撮影装置において、前記信号処理装置で検
出された角度情報を入力し、前記角度情報の方向に追尾
用カメラが向くように制御することを特徴とする移動体
撮影装置。1. A plurality of fixed surveillance cameras sharing a predetermined visual field range, a tracking camera mounted on a swivel base that rotates by inputting a predetermined angle, and an image signal of the surveillance camera as a signal. In a moving body photographing device comprising a signal processing device for processing and detecting the angle information between the moving body and the surveillance camera or the tracking camera, the angle information detected by the signal processing device is inputted, and the angle information is inputted. A moving body photographing apparatus, characterized in that the tracking camera is controlled to face in the direction of.
画像との差分を得ることにより前記移動体を抽出するこ
とを特徴とする請求項１記載の移動体撮影装置。2. The moving body photographing apparatus according to claim 1, wherein the signal processing device extracts the moving body by obtaining a difference between a current image and an immediately preceding image.
レンズを取り付けたことを特徴とする請求項１記載の移
動体撮影装置。3. The moving body photographing apparatus according to claim 1, wherein the surveillance camera has a fixed lens attached to a CCD camera.
遠レンズを取り付けたことを特徴とする請求項１記載の
移動体撮影装置。4. The moving body photographing apparatus according to claim 1, wherein the tracking camera is a CCD camera equipped with a telephoto lens.
れた監視カメラと、所定の角度を入力して回転する旋回
台に搭載したズームレンズをＣＣＤカメラに取り付けた
追尾用カメラと、前記監視用カメラの画像信号を信号処
理として前記移動体と前記監視カメラ又は前記追尾カメ
ラとの角度情報を検出する信号処理装置とを具備する移
動体撮影装置において、前記移動体が予め定められた直
線上を移動する場合に、前記角度情報を入力し前記追尾
用カメラと前記移動体との距離を求め、前記距離に基づ
き前記ズームレンズの倍率を制御するズーム制御回路を
有することを特徴とする移動体撮影装置。5. A plurality of fixed surveillance cameras that share a predetermined visual field range, a tracking camera in which a CCD camera has a zoom lens mounted on a swivel that rotates by inputting a predetermined angle, and the surveillance camera. In a moving body photographing device comprising a signal processing device for detecting angle information between the moving body and the monitoring camera or the tracking camera by using an image signal of a camera for signal processing as a signal processing, the moving body is on a predetermined straight line. When moving the vehicle, the vehicle has a zoom control circuit for inputting the angle information, obtaining a distance between the tracking camera and the vehicle, and controlling a magnification of the zoom lens based on the distance. Imaging device.
の画像信号を用いて、前記移動体の画像上の大きさを求
め、前記ズームレンズの倍率を制御することを特徴とす
る請求項５記載の移動体撮影装置。6. The signal processing device uses the image signal of the surveillance camera to determine the size of the moving object on the image, and controls the magnification of the zoom lens. The moving body imaging device described.
は、設置場所の両者の離融距離に基づき、前記角度情報
を補償することを特徴とする請求項１または５記載の移
動体撮影装置。7. The moving body photographing apparatus according to claim 1, wherein the surveillance camera and the tracking camera compensate the angle information based on a fusion distance between both installation locations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6170627A JPH0837615A (en) | 1994-07-22 | 1994-07-22 | Mobile object photographing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6170627A JPH0837615A (en) | 1994-07-22 | 1994-07-22 | Mobile object photographing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0837615A true JPH0837615A (en) | 1996-02-06 |
Family
ID=15908384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6170627A Pending JPH0837615A (en) | 1994-07-22 | 1994-07-22 | Mobile object photographing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0837615A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1023313A (en) * | 1996-07-08 | 1998-01-23 | Hitachi Ltd | Image pickup device |
| WO2000037884A1 (en) * | 1998-12-22 | 2000-06-29 | Mitsubishi Denki Kabushiki Kaisha | Method and apparatus for measuring positioning error using index mark, and machining apparatus that corrects error based on measured result |
| JP2006287589A (en) * | 2005-03-31 | 2006-10-19 | Canon Inc | Image processing method and image processing apparatus |
| JP2008506926A (en) * | 2004-01-29 | 2008-03-06 | ノースロップ グラマン コーポレイション | Automatic ground management |
| JP2009535912A (en) * | 2006-04-25 | 2009-10-01 | ヒューレット−パッカード デベロップメント カンパニー エル．ピー． | Automated process to generate a calculated design of a composite camera with multiple digital imaging devices |
| WO2012108577A1 (en) * | 2011-02-07 | 2012-08-16 | 고려대학교 산학협력단 | Monitoring device and method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0646313A (en) * | 1992-07-21 | 1994-02-18 | Fujita Corp | Tv camera system |
| JPH06153051A (en) * | 1992-11-02 | 1994-05-31 | Nippon Telegr & Teleph Corp <Ntt> | Mobile objection tracking image pickup device |
-
1994
- 1994-07-22 JP JP6170627A patent/JPH0837615A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0646313A (en) * | 1992-07-21 | 1994-02-18 | Fujita Corp | Tv camera system |
| JPH06153051A (en) * | 1992-11-02 | 1994-05-31 | Nippon Telegr & Teleph Corp <Ntt> | Mobile objection tracking image pickup device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1023313A (en) * | 1996-07-08 | 1998-01-23 | Hitachi Ltd | Image pickup device |
| WO2000037884A1 (en) * | 1998-12-22 | 2000-06-29 | Mitsubishi Denki Kabushiki Kaisha | Method and apparatus for measuring positioning error using index mark, and machining apparatus that corrects error based on measured result |
| US6718057B1 (en) | 1998-12-22 | 2004-04-06 | Mitsubishi Denki Kabushiki Kaisha | Position error measurement method and device using positioning mark, and machining device for correcting position based on result of measuring position error using positioning mark |
| JP2008506926A (en) * | 2004-01-29 | 2008-03-06 | ノースロップ グラマン コーポレイション | Automatic ground management |
| JP2006287589A (en) * | 2005-03-31 | 2006-10-19 | Canon Inc | Image processing method and image processing apparatus |
| JP2009535912A (en) * | 2006-04-25 | 2009-10-01 | ヒューレット−パッカード デベロップメント カンパニー エル．ピー． | Automated process to generate a calculated design of a composite camera with multiple digital imaging devices |
| WO2012108577A1 (en) * | 2011-02-07 | 2012-08-16 | 고려대학교 산학협력단 | Monitoring device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 19970401 |