WO2007066580A1 - Appareil de prise de vues et procede de commande d'un dispositif d'essuyage - Google Patents

Appareil de prise de vues et procede de commande d'un dispositif d'essuyage Download PDF

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Publication number
WO2007066580A1
WO2007066580A1 PCT/JP2006/324024 JP2006324024W WO2007066580A1 WO 2007066580 A1 WO2007066580 A1 WO 2007066580A1 JP 2006324024 W JP2006324024 W JP 2006324024W WO 2007066580 A1 WO2007066580 A1 WO 2007066580A1
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WO
WIPO (PCT)
Prior art keywords
circuit
wiper
image
camera device
foreign object
Prior art date
Application number
PCT/JP2006/324024
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English (en)
Japanese (ja)
Inventor
Koji Wakiyama
Original Assignee
Matsushita Electric Industrial Co., Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co., Ltd. filed Critical Matsushita Electric Industrial Co., Ltd.
Publication of WO2007066580A1 publication Critical patent/WO2007066580A1/fr

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/52—Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals

Definitions

  • 0001 relates to a camera device to which a wai is worn and a method for controlling the wai.
  • the patent describes a method of controlling a wiping system for wiping the surface of a glass of an automobile or the like.
  • a special optical sensor is installed on the windshield to detect the state of the windshield surface, and the light on the glass surface is detected to detect rain patterns. Physically, the raindrop is detected by recognizing what occurs in the detector under the raindrop.
  • the foreign material distinction unit identifies the presence of foreign matter based on the image data obtained by the unit equipped with the camera body. It does not increase the cost of the camera because no special sensor needs to be installed. In addition, since the wire is driven only when foreign matter is detected, it is possible to prevent image deterioration.
  • the above-mentioned separate unit detects the predetermined amount of movement in the above-mentioned data based on the difference between the number of data determined by the above-mentioned unit when the above-mentioned It is used to identify the presence of foreign matter based on the motion amount of the image that is output. [0111] When the area of a part is changed by adjusting the power of the camera, the position of the image of the subject in the image moves accordingly. On the other hand, the foreign matter adhering to the glass or the like placed on the surface of the part moves with the part, so that it does not change even when the image of the foreign matter in the frame is taken.
  • the separate unit has a number of motions having a constant motion amount in the region, including a motion amount determined according to Among these, the amount of foreign matter is calculated based on one of them, and the absence of foreign matter is identified by comparing the amount of foreign matter with a predetermined threshold value.
  • the amount of foreign matter is calculated based on the movement that differs from the change in the area, so that the foreign matter can be detected from the image obtained.
  • Ming Camera the separate part compares the output. Is updated based on the above-mentioned discharge amount in the above-mentioned Y.
  • the threshold value used for each foreign matter is updated, so that water and substances can be removed to a sufficient level according to the situation.
  • the separate part detects the wave number of the image based on the image data obtained by the part, and recognizes the lower part of the wave number as adhesion of foreign matter. .
  • the bright camera unit has the automatic adjustment mechanism, and the above-mentioned separate unit calculates the spatial wave number detected from the image taken immediately after the automatic adjustment mechanism is activated. It holds a large value as the wave number, and uses the spatial wave number detected from the image of the point and the wave number as a lamella to judge that foreign matter has adhered.
  • the wave number of the image taken immediately after the image was set by the operation of the automatic adjustment mechanism which is considered to be the large value of the spatial wave number, is held as the wave number, and the wave number of the image taken at the point is held.
  • the wave number with the wave number it is possible to identify whether or not foreign matter has adhered.
  • the 002 control method includes the steps of taking an image with a part, identifying the absence of foreign matter adhering to the surface to be swept by the wipe based on the image data obtained by the part, and And operating the wire according to the above.
  • the foreign matter-identifying part identifies the presence of foreign matter on the basis of the image data obtained by the part provided in the camera body. Therefore, it is not necessary to install a special sensor. Do not increase the strike. In addition, since the wire is driven only when foreign matter is detected, it is possible to prevent image deterioration. 002, the computer is provided with a wipe program for performing the steps of claim 7.
  • the 002 program identifies the presence of foreign matter based on the image data obtained by the camera's body, and it is not necessary to install a special sensor. Do not increase the strike. In addition, since the wire is driven only when foreign matter is detected, it is possible to prevent the image.
  • 3 shows an example of an image when the region is changing
  • FIG. 3 is a schematic diagram showing the main parts related to the camera device according to the light condition.
  • the camera of this embodiment control, rotation 5, rotation unit 5, gear 52, center 53, gear 54, magnet 55, magnetic sensor 56, and camera unit 57. It includes a table 58, a front glass 59, a wire 6, a wire 6, a connection 62, a magnet 63, and a magnetic sensor 64 and a support 65 66.
  • the camerat 57 functions as an example of a part, and has, for example, a 2 CC image sensor element in that part, and can photograph an object in front of the camera.
  • a transparent glass 59 is installed on the surface facing the camerat 57 to protect the internal elements and optical system from dirt and moisture.
  • a wiper 6 is provided to remove the water on the windshield 59 and water droplets.
  • Wye 6 is connected to Wright 6 via articulation 62. 62 converts the movement of the water 6 into a linear movement and transmits the driving force to the movement 6. By driving the wiper 6, the wiper 6 can remove dirt and water droplets on the front glass 59.
  • the 003 camerat 57 is supported on both sides by support arms 65 66. Also, the support frame 65 66 supports the camerat 57 so that the camerat 57 can swing about a predetermined center. Then, the camerat 57 can be turned to (chito). Further, the camera 58 of the motor 58 installed on the support frame 65 is connected, and by driving the camera 58, the camera 57 can be changed in the direction of the arrow.
  • 0032 65 65 65 is fixed on the rotating part 5 formed in a disk shape. Further, the rotating part 5 is arranged on the side of the rotation 5, and is supported by the rotation 5 while being rotated at the arrow 2 (n).
  • an inverter 53 is installed on the rotation 5 side.
  • a gear 54 is attached to the center 53, and the gear 54 is connected to the gear 52 mounted on the rotary unit 5.
  • the rotary unit 5 When the motor 53 is driven, the rotary unit 5 is driven via the gear 54 and the gear 52 and rotates in the direction of arrow 2. When the moving part 5 rotates, the camerat 57 also rotates in two directions.
  • a sensor 55 is in place. Further, in the rotation 5, a sensor 56 is attached at a position where the magnet 55 can face. Also, 63 is attached to the surface of the camera-t 57 in order to detect the orientation of the camera-t 57. A sensor 64 is mounted on the support frame 65 at a position where it can face 63.
  • Image display 2 is for the time taken by camerat 57. Used to display etc.
  • the control detects the foreign substance attached to the windshield 59 based on the image actually captured by the body 57, and operates the wiper 6 when the substance is separated. Is.
  • 00372 is a schematic diagram showing the structure of the lanes of the camera according to the situation of Ming.
  • circuit 33 operation number generation 32, command generator 23, command 38, image timing 7, target image output circuit 7, brightness variation 72, image 73, image 74, and motion output.
  • 89 and new 9. It is mainly composed of a processor that operates by control, for example, a wipe program.
  • the command decoder 23 is a circuit that interprets the content of the instruction input from the operation 22 and gives an operation indication to the control section.
  • the number generator 32 is a circuit that generates a Wy number in response to an instruction from the NAND device 23.
  • the wais 33 are paths for operating the wais by the number of wais generated by the motion number generator 32.
  • the circuit 38 functions as an example of and is a circuit for driving the transistor 53 based on the rotation direction information and the rotation information input from the inverter 23.
  • the 004 timing 7 is a circuit for generating the timing of the image memory based on the timing of the image 57 output from the printer 57.
  • the elephant image output circuit 7 is a circuit for extracting information on a predetermined image area from the image captured by the camera 57.
  • the degree change 72 is a circuit for calculating a change in brightness between adjacent images of the image output by the target image output circuit 7.
  • a reference numeral 73 is a memory for storing the brightness change 72 or the information processed by the target image output circuit 7.
  • the memory 74 reads the image information delayed by a predetermined time from the image memory 73 according to the signal timing of the image memory 7, and stores it.
  • the 004 output circuit 75 compares the contents of the images 73 and 74, which hold the image information of the images captured by each other, with each other to determine the object (movement direction and movement This is a circuit that extracts the quantity or movement.
  • the timing output circuit 76 is a circuit that outputs a timing signal each time the target image area changes.
  • Vector 77 is a circuit that holds the maximum vector amount of the target image as an extraction vector and holds it at the timing of timing circuit 76.
  • Reference numeral 004478 is a circuit which, when the object in the predetermined range is not included in the direction corresponding to the direction of rotation of the target image, outputs the foreign object as the object data.
  • the image 79 is a circuit that calculates the number of foreign objects that are output as a result from the detection 78.
  • Numeral 8 is a circuit that calculates the number of motions in the element that is the source of detection 78.
  • Vector 8 is a circuit that calculates the standard value of the motion vector based on the movement amount information and the frequency input from the NANDDA 23, and calculates the predicted vector range in which the detection difference is added. 82 detected
  • 004 83 is a circuit that calculates the value obtained by dividing the number of stops by the target number of strokes. is there. 284 is a circuit for calculating a value obtained by dividing the number of abnormalities by the target number of strokes. 385 is a circuit that calculates the value obtained by dividing the number of stops by the number of target images minus the number of abnormalities.
  • 004 868 is a way to hold the used to judge the Wy with the force of 83.
  • 2 87 is a path for holding 2 which is used to judge a Wy with the force of 2 84.
  • 3 88 is a path for holding 3 used to judge a Wy with the force of 3 85.
  • the selection of the deviation of 83, 2 84, 3 85 and 86 2 87, 388 is determined according to the judgment report input from the command data 23.
  • the operation of the circuit part is controlled by giving a predetermined information to the commander 22 and the commander 23.
  • the Nandadeda 23 makes the direction S23a and the rotation S23b necessary for controlling the work.
  • the 38 drives the 53.
  • the power of the motor 53 is transmitted to the rotary unit 5 via the gear 54 and the gear 52, and the rotary unit 5 rotates.
  • the unit 57 placed on the rotary unit 5 also rotates in the A2 direction, and the shooting direction changes.
  • the image of the time taken by the 57 is displayed on Image Display 2. The displayed image will move in the left-right direction.
  • the image image output circuit 7 limits the range of the image used for extracting the motion on the image, for example, within the range of a predetermined area. Therefore, the range is limited to reduce the amount of data to be processed when extracting motions.
  • the output circuit 75 detects the motion by comparing the two images at the shooting time.
  • 00573 is a diagram showing an example of an image when the area is changed.
  • the motion detection circuit 75 recognizes the detected amount and direction of movement as a motion. , The foreign matter adhering to the surface of the windshield 59 and the water drop rotate with the camerat 57, so movement is not detected in the image corresponding to the object or water drop.
  • a motion is performed while the camera 57 rotates a predetermined amount, and the motion output circuit 75 outputs the motions in sequence to perform a pixel operation. That is, the maximum value among the motion values input during the predetermined period is held and output as a result.
  • the 005 78 When the movement amount cannot be detected in the rotation direction of the camerat 57, the 005 78 considers that region as a region in which there is no change in brightness and excludes that region from the foreign substance region.
  • the following three types of lamellas P 1 to P3 can be used as the lamera representing the output at the time of 006.
  • O represents the number of motions not generated, that is, the number. Also, indicates the number of detection areas. In addition, has a constant amount of constants, including the amount of the predicted vector, i.e., the number where the predicted vector is the amount of camerat 57 between the two image differences to be compared. It shows the movement that can be seen.
  • the lamella P 83 is calculated, the lamella P 2 is calculated by 284, and the lamella P 3 is calculated by 3
  • 89 selectively uses the deviations of the three types of lamellas P to P3. For example, if the lamella P is selected by the judgment replacement S23c, the window
  • the wire 89 sets the number of operations (32) that corresponds to the amount of foreign matter (P) produced by 83 and that produced by 86. Physically, it outputs a value that represents (amount). Similarly, when the lamella P2 is selected, the wire 89 outputs to the operation number generator 32 a value according to the amount of foreign matter (P2) that 2 84 does and the amount that 2 87 does, and the lam e If you select P3,
  • the number generator 32 will Determine the number and activity. As a body example, if the value of Wy 89 is a positive number, Wyon is controlled, or if it is a negative number, wyo is controlled. In addition, the number of operations and the degree are increased in proportion to the size of the positive number.
  • Wy 33 functions as an example of Wy, and drives Wyt 6 and moves Wy 6 according to the signal generated by the operation number generation 32. Since the wire 6 covers the front glass 59, foreign matter that may cause shadows on the subject is removed, and a good image can be obtained.
  • the presence of foreign matter is identified based on the image data obtained by the unit provided in the camera body. Since it does not need to be installed, it does not increase the cost of the camera and the failure rate. In addition, since the wire is driven only when foreign matter is detected, it is possible to prevent the image. 007 0 (of 2)
  • Figure 4 is a block diagram showing the structure of the camera device according to the second condition of Ming. Control 2 shown in 4 is applied instead of control in the camera device shown in. In addition, in 4), the same number is attached to the 2 overlapping parts explained in the above condition.
  • the camera 57 applied to this embodiment has a function of an adjusting mechanism (lower, lower).
  • the camera device 2 of the present embodiment has a Y 33, a motion number generator 32, a command generator 23, a command 38, a target image output circuit 7, a high frequency output circuit, and an initial stage. 2 and
  • the command decoder 23 interprets the instruction input from the operation 22 and gives an operation indication to the circuit unit.
  • the number generator 32 is a circuit for generating a Wy number in response to the indication from the NAND device 23.
  • the wai 33 is a circuit that drives the wai 6 as many times as the operation number generation 32.
  • Reference numeral 38 is a circuit for driving the inverter 53 based on the rotation direction 23a and the rotation 23b input from the inverter 23.
  • the elephant image output circuit 7 is a process for extracting only the information of a specified specific area from the image obtained by the shadow of the dot 57.
  • the frequency output circuit is a circuit that finds the frequency band of the target image area and adds the results.
  • 007552 is a route for assigning the value of the high-frequency output circuit as an initial value at the timing when the operation of OT 57 is completed after the ring S23d of NANDDE 23 is input.
  • the output circuit 3 is a path for determining the difference between the high-frequency output circuit and the initial 2 as
  • 00764 is a circuit that holds the signal for disconnection.
  • Y5 is output circuit 3
  • control 2 shown in 4 will be described below.
  • the control unit 23 controls the operation of each part according to the instruction output from the operation 22.
  • the ndodeda 23 sends the direction information and the rotation information as the information of the operation
  • the nd 38 drives the nt 53. Since the power of the motor 53 is transmitted to the rotary unit 5 via the gear 54 and the gear 52, the rotary unit 5 rotates, and the mount 57 installed on the rotary unit 5 moves in two directions. Change. At this time, when viewing the image of the time taken with the screen 57 in image display 2, the subject on the displayed image
  • Fig. 5 shows an example of an image when foreign matter is attached
  • Fig. 6 is a front view showing the glass when foreign matter is attached.
  • the image output circuit 7 receives the image 57 output from the dot 57 and extracts a specific area that is a moving object in this image. Therefore, the image data that is the object of motion is limited to the area of the part of the frame.
  • the frequency output circuit 0 is for the image area output by the target image output circuit 7.
  • the value of the high frequency output circuit is the initial value in the timing of 008 product.
  • the spatial wave number detected from this image also includes high frequency components.
  • the value initially assigned to 2 represents the high frequency component of the state.
  • the output circuit 03 calculates the conversion based on the initial stage of the initial stage 2 when the high frequency output circuit outputs.
  • () is output circuit 3 as a change To do.
  • the change of the output circuit 3 becomes large.
  • 0087 Y5 is output from the output circuit 3 but is output to the operation number generator 32 as a notification that it is held in 4.
  • the frequency band of the spatial frequency extracted from the image by the high-frequency output circuit as a high-frequency component affects foreign matter
  • different sizes such as rain, snow, dust, etc. have different sizes and characteristics, so that the difference in the wave number associated with the foreign matter also depends on the type of foreign matter. Therefore, if the frequency band is selectively configured according to the type of object to be detected, foreign matter adhesion can be detected more effectively.
  • the 0089 number generator 32 determines the number of WYs and the degree of operation according to the value of WY5. For example, if the value is positive, it is Wyong, or if it is negative, it is Wyo. You may also increase the number of movements and the degree in proportion to the size of the positive number.
  • the 0090 WY 33 drives the WYTER 6 according to the force of the operation number generation 32, and operates the WY 6.
  • the 0090 WY 33 drives the WYTER 6 according to the force of the operation number generation 32, and operates the WY 6.
  • the presence of foreign matter is identified based on the wave number of the image data obtained by the part provided in the camera body, and therefore a special sensor is used. Since it does not need to be installed, it does not increase the cost of the device, nor does it increase the failure rate. In addition, since the wire is driven only when foreign matter is detected, it is possible to prevent the image. In addition, in the above-mentioned state 2, as a circuit for controlling the region,
  • the 0095 application is based on the present patent (2 5 35 58) of the 2 5 2 8 application, which is hereby incorporated by reference.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention concerne un appareil de prise de vues et un procédé de commande d'un dispositif d'essuyage qui est en mesure de réduire l'influence d'un dispositif d'essuyage sur une image saisie sans compliquer la structure de l'appareil de prise de vues et à un coût relativement faible. L'appareil de prise de vues comporte le dispositif d'essuyage (60), un dispositif d'appareil de prise de vues (57) comportant une section de traitement d'image afin de saisir une image, et un circuit de commande (11). Le circuit de commande (11) identifie, sur la base d'un signal d'image (S57) obtenu par le dispositif d'appareil de prise de vues (57), si il y a un corps étranger collé à un verre avant (59), et actionne le dispositif d'essuyage (60) lorsqu'un corps étranger est identifié.
PCT/JP2006/324024 2005-12-08 2006-11-30 Appareil de prise de vues et procede de commande d'un dispositif d'essuyage WO2007066580A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005355008A JP2007159021A (ja) 2005-12-08 2005-12-08 カメラ装置及びワイパ制御方法
JP2005-355008 2005-12-08

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Publication Number Publication Date
WO2007066580A1 true WO2007066580A1 (fr) 2007-06-14

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WO (1) WO2007066580A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014007153A1 (fr) * 2012-07-03 2014-01-09 クラリオン株式会社 Dispositif de contrôle des environs d'un véhicule
US9616856B2 (en) 2012-07-27 2017-04-11 Clarion Co., Ltd. Lens cleaning apparatus
CN112954142A (zh) * 2019-11-22 2021-06-11 宝山钢铁股份有限公司 一种智能除尘除雾摄像机防护罩及其智能识别方法

Families Citing this family (6)

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Publication number Priority date Publication date Assignee Title
JP2016070796A (ja) * 2014-09-30 2016-05-09 シャープ株式会社 障害物判定装置および障害物判定方法
JP6469223B2 (ja) * 2015-06-24 2019-02-13 株式会社日立製作所 画像処理装置、自律移動装置および自己位置推定方法
JPWO2022054679A1 (fr) * 2020-09-11 2022-03-17
CN113787987A (zh) * 2021-09-13 2021-12-14 安徽江淮汽车集团股份有限公司 针对挡风玻璃前视摄像头视野区域的自清洁方法及系统
JPWO2023067704A1 (fr) * 2021-10-19 2023-04-27
WO2023085403A1 (fr) * 2021-11-12 2023-05-19 株式会社小糸製作所 Système de détection

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JP2001147278A (ja) * 1999-11-19 2001-05-29 Nippon Seiki Co Ltd 雨滴検出装置
JP2001153969A (ja) * 1999-11-25 2001-06-08 Nippon Seiki Co Ltd 雨滴検出装置
JP2003051972A (ja) * 2001-08-07 2003-02-21 Matsushita Electric Ind Co Ltd 撮像システム

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JP2001147278A (ja) * 1999-11-19 2001-05-29 Nippon Seiki Co Ltd 雨滴検出装置
JP2001153969A (ja) * 1999-11-25 2001-06-08 Nippon Seiki Co Ltd 雨滴検出装置
JP2003051972A (ja) * 2001-08-07 2003-02-21 Matsushita Electric Ind Co Ltd 撮像システム

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014007153A1 (fr) * 2012-07-03 2014-01-09 クラリオン株式会社 Dispositif de contrôle des environs d'un véhicule
CN104395156A (zh) * 2012-07-03 2015-03-04 歌乐株式会社 车辆周围监视装置
JPWO2014007153A1 (ja) * 2012-07-03 2016-06-02 クラリオン株式会社 車両周囲監視装置
US9473718B2 (en) 2012-07-03 2016-10-18 Clarion Co., Ltd. Vehicle surroundings monitoring device
US9616856B2 (en) 2012-07-27 2017-04-11 Clarion Co., Ltd. Lens cleaning apparatus
CN112954142A (zh) * 2019-11-22 2021-06-11 宝山钢铁股份有限公司 一种智能除尘除雾摄像机防护罩及其智能识别方法
CN112954142B (zh) * 2019-11-22 2022-06-28 宝山钢铁股份有限公司 一种智能除尘除雾摄像机防护罩及其智能识别方法

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