KR20060009178A - Driving apparatus of both-eyes typed stereo carmera system and control method thereof - Google Patents

Abstract

The present invention relates to a driving device and a control method of a binocular stereo camera system. The binocular stereo camera system controls the three-dimensional effect of the acquired image by controlling the distance between the left and right camera sensors, the two lens modules that form the image on these sensors, the left and right camera sensors, and the mutual separation distance between the lenses. It consists of a linear motor for controlling, a linear motor for controlling the angle of view and symmetrically controlling the camera sensor and the lens on the left or right side to control the zoom and the viewing angle interlockedly and a control device for controlling them.

Binocular, Stereo Camera, Zoom-Visual Linkage Control, Linear Motor, Lookup Table

Description

DRIVING APPARATUS OF BOTH-EYES TYPED STEREO CARMERA SYSTEM AND CONTROL METHOD THEREOF}

1 is a block diagram illustrating a configuration of a camera driving control apparatus of a binocular stereo camera system according to the present invention;

2 is a view for defining a control panel applied to FIG.

3 is an operation flowchart illustrating a camera sensor driving control method of a binocular stereo camera system according to the present invention;

4 is a diagram for describing a relationship between a viewing angle of a camera lens and a subject distance.

*** Explanation of main parts of drawing ***

10: convergence distance adjusting unit 20: zoom adjusting unit

30: look-up table (LOOK-UP) selection unit

40: control unit 50: convergence motor control unit

60: linear motor drive unit 70: linear motor

80: sensor 90: mux

100: display unit

The present invention relates to a driving device and a control method of a binocular stereo camera system used for stereoscopic image acquisition.

Two sets of linear motors were used to realize the interlocking control of 3D effect, zoom and viewing angle, which are the most important factors for driving control of binocular stereo camera system, and to enable independent control of left and right camera sensors and lenses of camera system.

 One set of linear motors controls the 3D effect by adjusting the distance between the left and right camera sensors (including the lens module), and the other set of linear motors is used for the left and right camera modules of the stereo camera system, respectively. Used in interlocking control and independent control, the present patent relates to a camera driving control apparatus of a binocular stereo camera system and a control and driving method of a linear motor used for driving these.

Recently, as interest in stereoscopic images increases, the importance of stereoscopic stereo cameras is increasing. However, in the broadcast field, the stereoscopic image is still in the basic stage, and the technology of the stereoscopic camera capable of capturing the optimal stereoscopic image required for broadcasting has not been secured.

In the binocular stereoscopic image, even though both camera modules of the left and right constituting the camera system are photographing the same object, the object is photographed with a slight horizontal difference like the human eye. It is called time difference. However, when the amount of parallax is excessive, it causes problems such as eye fatigue. Therefore, when shooting, this parallax should be monitored at all times and photographed for optimal parallax information. However, when shooting a stereoscopic image with a binocular camera, if the zoom and the angle of view is not linked control, if the image is captured only by the zoom operation, the intended parallax is not maintained, so the amount of parallax taken is very large Or extremely small, these stereoscopic images are difficult to use. However, in order to keep the parallax constant, the zoom is operated by rotating the two levers, the zoom and the angle of view, which is quite difficult, which is difficult even after a long period of training.

Although there are such technical problems, there are few stereoscopic binocular cameras with a zoom function in the stage of stereoscopic broadcasting, and there is almost no accumulated technology for linkage control of zoom and visual angle due to such a scarcity.

The prior art of a representative binocular stereo camera is known in Korean Patent Publication No. Hei 7-175143 (patent name: binocular stereo camera device, registration year: 1995, country name: Japan). Rotating the camera by a mechanical device to match the optical axis of the camera. In controlling the direction of the optical axis, a considerable amount and weight of the camera must be moved, so a considerable driving force is required for the control, which results in slow speed and the size of the entire camera device. Has the disadvantage of being larger.

Another conventional technique is to adjust the focus and angle of view by means of a mechanical cam, as can be seen in registered Japanese Patent Application Laid-Open No. 11-344778 (patent name: stereo camera, registered year: 1999, country name: Japan). However, it has a disadvantage that it is too slow in image processing speed because it operates mechanically.

Therefore, the present invention is derived to solve the problems of the prior art as described above, the object of the present invention is to solve the zoom-time interlocking control function to be applied to the actual broadcast, the operation of the stereoscopic camera system is conventional Proposed camera driving control device and method for binocular stereo camera system that can be operated similarly to broadcasting camera to simplify operation of stereo camera and to acquire high quality stereoscopic image by adding functions such as 3D effect. It is.

Another object of the present invention is to provide a means for adjusting the mutual distance of the left and right cameras implemented as a system having two sets of linear motors, a set of linear motors to control the 3D effect by adjusting the distance between the left and right cameras Another set is to provide a camera driving control apparatus and method for a binocular stereo camera system that can be controlled by interlocking zoom and viewing angles or independently.

The binocular three-dimensional camera system controls the three-dimensional effect of the acquired image by controlling the separation distance between two camera sensors, two lens modules for forming images on these sensors, two camera sensors, and the left and right camera sensors. It consists of a linear motor for controlling, a linear motor for controlling the angle of view and symmetrically controlling the camera sensor and the lens on the left or the right side to control the zoom and the angle of view, and a control device for controlling them. In the present invention, the control device for achieving the above object is a binocular camera distance adjusting unit for outputting a signal for adjusting the distance between the binocular cameras according to the intention of the photographer; A viewing angle adjusting unit capable of adjusting the viewing angle of the binocular camera; A zoom control unit for outputting a zoom control signal of the binocular camera according to a photographer's intention; A control panel including a lookup table selection unit configured to output a lookup table selection signal to be used as a reference among a plurality of lookup tables according to a photographer's intention; Storing the plurality of lookup tables, setting a reference lookup table in response to the lookup table selection signal, deriving convergence data from the reference lookup table in response to the distance adjustment signal and the zoom adjustment signal, and performing the convergence data. A controller for outputting a motor driving control signal for controlling the 3D effect and the viewing angle by real-time interpolation, and outputting a changed motor driving control signal in response to a driving distance sensing signal input from the outside; A linear motor controller configured to output a motor driving signal in response to the motor control signal; A linear motor driver supplying driving power for driving the motor in response to the motor driving signal; A plurality of linear motors driven in a + direction or a-direction by a driving power supplied from the linear motor driver; And a sensor that senses driving distances of the plurality of linear motors and outputs them to the controller.

When the manual mode is selected by the photographer, the controller outputs a motor driving control signal to control the 3D effect and the viewing angle by using the distance between the cameras adjusted by the photographer.

In this case, the lookup table stored in the controller may be configured to maintain a constant amount of displacement according to a zoom change amount by increasing a zoom level value for a section having a large change in viewing angle.

In addition, another embodiment of the present invention, the input step of receiving the distance information and the zoom information between the binocular camera input by the photographer; An output step of reading and outputting version data from a look-up table using distance information and zoom information between the binocular cameras; A correction step of correcting the version data through linear interpolation; A comparison step of converting the linearly interpolated version data into data recognizable by the linear motor controller and comparing the linearly interpolated version data with preset reference version data; Motor control for controlling the linear motor to be driven in the + direction when the comparison version data is larger than the reference version data as a result of the comparison, and to control the linear motor to be driven in the-direction when the comparison version data is smaller than the reference version data. step; And a motor stop control step of controlling the linear motor to be stopped when the reference version data is subtracted from the current version data while the linear motor is being driven and the subtraction result is within a preset range.

At this time, the motor control step, provides a manual mode that can be manually adjusted by the photographer, and when the photographer selects the manual mode, using the distance between the camera adjusted by the photographer to adjust the 3D effect and viewing angle And outputting a control signal for driving the motor so as to control it.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram for explaining the configuration of a camera driving control apparatus of a binocular stereo camera system according to the present invention, Figure 2 is a view for limiting the control panel applied to FIG.

As shown in FIG. 1, the present invention includes a control panel 120, a controller 125, a mux 130, a viewfinder 140, a 3D viewer 150, a camera 160, and a synchronizer 170. ), A camera 100 including a lens 175, a linear motor 180, a sensor 185, a brake 195, and an LCD 197, a linear motor control unit 210, a linear motor driving unit 220, and a camera. The sub block 200 includes a power supply unit 230 and a main power supply unit 240.

And, the control panel 120 is a binocular camera distance adjusting unit 121 for outputting a signal for adjusting the distance between the binocular cameras according to the intention of the photographer, and a vertex adjustment unit for adjusting the viewing angle of the binocular camera ( 122), a zoom control unit 123 for outputting a zoom control signal of the binocular camera according to the intention of the photographer, and a lookup table selection for outputting a lookup table selection signal to be used as a reference among a plurality of lookup tables according to the photographer's intention Section 124.

The controller 125 stores the plurality of lookup tables, sets a reference lookup table in response to the lookup table selection signal, derives convergence data from the reference lookup table in response to the distance control signal and the zoom control signal, The motor driving control signal for controlling the 3D effect and the viewing angle is output by interpolating the convergence data in real time, and the motor driving control signal is changed in response to the driving distance detection signal input from the outside.

When the manual mode is selected by the photographer, the controller 125 outputs a motor driving control signal to control the 3D effect and the viewing angle by using the distance between the cameras adjusted by the photographer.

Since the controller 125 stores the lookup table in the internal memory, a real-time arithmetic unit is provided to enable linear interpolation between the lookup tables in real time.

In this case, the lookup table stored in the controller 125 allows the zoom level value to be large for a section in which the variation in the viewing angle is large so that the displacement of the viewing angle in accordance with the zoom change is kept constant. That is, the lookup table is generated in consideration of the focal length f according to the zoom, as shown in FIG. 4, and the largest dependent variable with respect to the viewing angle is the distance to the subject. At this time, the relationship between the distance to the subject and the viewing angle has an inverse relationship, and the C ₁ and C ₂ values shown in the figure are experimental coefficients derived while simplifying the shape of the lens.

The linear motor controller 210 outputs a motor driving signal in response to the motor control signal.

The plurality of linear motor driving units 220 supply driving power for driving the motor in response to the motor driving signal.

The plurality of linear motors 180 provided in the camera unit 100 are driven in a + direction or a − direction by driving power supplied from the linear motor driver 220, respectively.

In addition, the sensor 185 included in the camera unit 100 is an optical sensor and detects the driving distances of the plurality of linear motors 180 and outputs them to the controller 125.

Referring to the operation of the camera driving control device of the binocular stereo camera system configured as described above are as follows.

3 is an operation flowchart illustrating a camera driving control method of a binocular stereo camera system according to the present invention.

As shown in FIGS. 1 to 3, first, a look-up table selecting unit 124 which is a knob switch that allows a photographer to select a manual mode, a first lookup table mode, a second lookup table mode, and a third lookup table mode. The user selects one lookup table mode among a manual mode or a plurality of lookup table modes.

That is, when the photographer selects the lookup table mode, the controller 125 recognizes this and switches the current mode of the binocular stereo camera system to the lookup table mode.

The controller 125 checks whether the photographer inputs a signal and a zoom control signal for adjusting the distance between the binocular cameras through the binocular camera distance adjusting unit 121 and the zoom adjusting unit 123.

As a result of the check, when the camera distance control signal and the zoom control signal are input (S100) (S110), the control unit 125 reads the version data from the lookup table set as a reference by using the input camera distance control signal and the zoom control signal ( S120).

The controller 125 linearly interpolates the version data (S130). That is, since the lookup table is a table obtained by dividing the distance to the object by 20 and the zoom value by 8, the distance value to the object input by the binocular camera distance adjusting unit 121 and the zoom adjusting unit 123 and the zoom value By using linear interpolation, linear interpolation extracts the correct version value.

The controller 125 converts the linear interpolated version data into data recognizable by the linear motor controller 210 and outputs the linear interpolated version data to the linear motor controller 210 through an RS232 communication line.

Then, the linear motor control unit 210 recognizes the version data as a motor control signal and compares the preset version data.

The comparison result determines whether the version data exceeds the reference range (S150).

As a result of determination, when the version data exceeds the reference range and is larger than the reference version data, the linear motor controller 210 outputs a motor driving signal to the linear motor driver 220 so that the linear motor 180 is driven in the + direction. In operation S160, when the comparison version data is smaller than the reference version data, the linear motor 180 is controlled to be driven in the − direction (S170).

As described above, when the linear motor 180 is driven to move the binocular camera in a predetermined direction, the sensor 185 detects the moving distance, and the control unit 125 displays the current detection result by the sensor 185. It is input as a value (S180).

The controller 125 recognizes the current version value as the current position of the binocular camera, subtracts a preset target position from the current position, and determines whether the subtraction result value is within an error range (S190).

When the result of the determination in step S190 is within the error range, the linear motor 180 is stopped (S200). Otherwise, the motor control signal is sent to the linear motor controller 210 to drive the linear motor 180. While outputting, the output value of the sensor 185 is continuously monitored.

Accordingly, the present invention uses a linear motor as a means for adjusting the mutual distance between the left and right camera modules, the center axis of the lens and the camera sensor in order to facilitate the operation of the binocular stereo camera system and obtain a high quality stereoscopic image. By controlling the distance between the 3D effect control and the angle of view to propose a driving device and method, it is possible to easily operate the stereo camera system and obtain a high quality stereoscopic image.

In particular, the present invention is to enable the control of the zoom and the viewing angle, so that the zoom operation is possible while maintaining the specified parallax even if only the zoom knob is operated without the separate operation of the viewing angle knob, so that the shooting of the binocular stereoscopic camera There is an effect to make the breakthrough convenient.

In addition, according to the present invention, even when a constant parallax is maintained even in a stereoscopic image including a zoom operation, eye fatigue is greatly reduced, thereby producing a high quality stereoscopic image.                     

In addition, the present invention enables precise control having a resolution of several μm by applying a linear motor to a stereoscopic binocular camera, and fundamentally solves a backlash problem that is difficult to solve in a conventional rotary motion motor. There is an effect that it is possible to produce a stable three-dimensional image without unnecessary vibration of the image in the interval control, the control of the viewing angle.

Claims (5)

A gaze distance (convergence distance) adjusting unit for outputting a signal for adjusting the distance between the binocular cameras according to the intention of the photographer, and a zoom adjusting unit for outputting a zoom control signal of the binocular camera according to the intention of the photographer; A control panel including a lookup table selection unit configured to output a lookup table selection signal to be used as a reference among a plurality of lookup tables (LUTs) into which the viewing angle and the focal length data are input according to the distance based on the 3D effect; Storing the plurality of lookup tables, setting a reference lookup table in response to the lookup table selection signal, deriving convergence data from the reference lookup table in response to the distance adjustment signal and the zoom adjustment signal, and realizing the convergence data in real time. A control unit which outputs a motor driving control signal for interpolating the 3D effect and the viewing angle, and outputs a changed motor driving control signal in response to a driving distance sensing signal input from the outside; A plurality of linear motor controllers for outputting a motor driving signal in response to the motor control signal; A plurality of linear motor driver for supplying driving power for driving the motor in response to the motor driving signal; A plurality of linear motors driven in a + direction or a-direction by a driving power supplied from the plurality of linear motor driving units; And A sensor for sensing the driving distances of the plurality of linear motors and outputting them to the controller; Camera driving control device of a binocular stereo camera system comprising a. The method of claim 1, wherein the control unit, When the manual mode is selected by the photographer, the 3D effect is controlled by controlling the distance between the left and right camera modules controlled by the photographer, and precisely controlling the viewing angle by adjusting the distance between the left and right lenses and the central axis of the camera sensor. And a linear motor and outputting a control signal for driving the motor. A camera driving control apparatus for a binocular stereo camera system. The lookup table stored in the control unit comprises: Camera drive control method of a binocular stereo camera system, characterized in that the zoom displacement value is large for a section having a large amount of change in vergence so that the amount of displacement in accordance with the change in zoom is kept constant. An input step of receiving convergence distance information and zoom information input by the photographer; An output step of reading and outputting version data from a look-up table using the convergence distance information and zoom information; A correction step of correcting the version data through linear interpolation; A comparison step of converting the linearly interpolated version data into data recognizable by the linear motor controller and comparing the linearly interpolated version data with preset reference version data; Motor control for controlling the linear motor to be driven in the + direction when the comparison version data is larger than the reference version data as a result of the comparison, and to control the linear motor to be driven in the-direction when the comparison version data is smaller than the reference version data. step; And A motor stop control step of controlling the linear motor to be stopped if the subtraction result is subtracted from the current version data while the linear motor is driven and the subtraction result is within a preset range; Left and right camera module driving control method of binocular stereo camera system consisting of. The method of claim 4, wherein the motor control step, It provides a manual mode that can be manually adjusted by the photographer, and if the photographer selects the manual mode, the motor drive control to control the 3D effect and angle of view by using the distance between the camera adjusted by the photographer A left and right camera module camera driving control method of a binocular stereo camera system having an additional step of outputting a signal.

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