WO2011058707A1 - Dispositif d'imagerie et système de soutien d'opérations à distance - Google Patents

Dispositif d'imagerie et système de soutien d'opérations à distance Download PDF

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Publication number
WO2011058707A1
WO2011058707A1 PCT/JP2010/006333 JP2010006333W WO2011058707A1 WO 2011058707 A1 WO2011058707 A1 WO 2011058707A1 JP 2010006333 W JP2010006333 W JP 2010006333W WO 2011058707 A1 WO2011058707 A1 WO 2011058707A1
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WO
WIPO (PCT)
Prior art keywords
unit
photographing
imaging
angle
head
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Application number
PCT/JP2010/006333
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English (en)
Japanese (ja)
Inventor
卓也 岸本
靖 谷尻
哲也 野田
洋美 吉井
Original Assignee
コニカミノルタオプト株式会社
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Application filed by コニカミノルタオプト株式会社 filed Critical コニカミノルタオプト株式会社
Publication of WO2011058707A1 publication Critical patent/WO2011058707A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
    • 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

Definitions

  • the present invention relates to a photographing apparatus including a camera mounted on a head and a remote work support system using the photographing apparatus.
  • the head-mounted camera mounted on the head can obtain a wearer's experience video, for example, the wearer's experience video is transmitted to the instructor and an appropriate instruction is received from the instructor. Used in remote work support systems and daily life support systems that record the wearer's experience video and present the recorded experience video in a timely manner to remind the wearer of past experiences. ing. In addition, the head-mounted camera does not bother the wearer's hand in order to obtain the experience image, and thus there is an advantage that the wearer can use the hand freely.
  • Patent Document 1 discloses a head mounted camera that is fixed to an operator's head so that the photographing direction is the same as the operator's line of sight.
  • a head-mounted video display device disclosed in Patent Document 2 includes a display unit that displays video, a distance detection unit that detects a distance from the head-mounted video display device to a work object, and the display.
  • the display control unit adjusts the display size of the reference video to be displayed on the display unit based on the distance detected by the distance detection unit and the scale ratio information attached to the reference video. is there.
  • the head-mounted video display device disclosed in Patent Document 2 can display a reference image having a size suitable for work without imposing a burden on the worker or the instructor.
  • Patent Document 2 also discloses a remote work support system using this head-mounted video display device.
  • the imaging device disclosed in Patent Document 3 includes an imaging unit that images a field of view of an adherent, an image display unit that forms an image captured by the imaging unit on the retina of the adherend, An image pickup apparatus comprising: a detection unit that detects a gaze direction of an adherend; and a drive unit that causes the imaging direction of the imaging unit to follow the gaze direction detected by the detection unit.
  • the detection means irradiates the eyeball with infrared light from an infrared light source disposed close to the eyeball of the adherend, and the reflected light is received by a pair of photoelectric conversion elements.
  • the imaging apparatus disclosed in Patent Document 3 can cause the imaging direction of the imaging unit to follow the line-of-sight direction of the wearer without the wearer changing the direction of the entire apparatus.
  • the face direction of the head (the normal direction when the face is viewed as a plane) and the line-of-sight direction are substantially coincident with each other.
  • the face direction of the head and the line-of-sight direction generally do not coincide with each other, and the line-of-sight direction is generally more than the face direction of the head. It faces down. Therefore, like the head mounted camera disclosed in Patent Document 1 and the imaging means disclosed in Patent Document 2, the camera mounted on the head is fixed with respect to the head and is adjusted according to the movement of the head.
  • the shooting direction (the optical axis direction of the camera) changes
  • the area shot by this camera does not match the line of sight of the worker wearing this camera on the head. For this reason, the scene recognized by the worker wearing the camera on the head coincides with the scene recognized by the observer (including the worker) watching the video shot by the camera. It will disappear.
  • the gaze direction of the adherend is detected and the imaging direction of the imaging means is made to follow the gaze direction of the adherend.
  • the area and the line of sight of the worker wearing this camera on the head can be matched.
  • an infrared light source that emits infrared light
  • an optical system that applies infrared light to the eyeball and guides the reflected light
  • the reflection A mechanism such as a photoelectric conversion element for receiving light is necessary, infrared light hits the eyeball, and the mechanism is necessary in the vicinity of the eyeball, so that the entire apparatus is complicated and large.
  • the present invention has been made in view of the above-described circumstances, and the object of the present invention is to change the shooting direction of the camera in the direction of the wearer's line of sight even when the wearer is facing down.
  • An imaging device that can be directed and a remote work support system using the imaging device.
  • the downward angle of the head relative to the horizontal direction is detected, and when the detected downward angle of the head is greater than or equal to a predetermined angle, The image photographed by the photographing unit is adjusted downward so that an image can be obtained. For this reason, the imaging device and the remote operation support system according to the present invention can obtain an image of the wearer's line of sight in a head-mounted camera even when the wearer faces down.
  • FIG. 1 shows the structure of the remote operation assistance system concerning embodiment. It is an external appearance perspective view which shows the structure of the imaging device in the remote operation assistance system shown in FIG. It is a perspective view which shows the structure of the drive part in the imaging device shown in FIG. It is a conceptual diagram for demonstrating the attachment state of the angular velocity sensor unit in the imaging device shown in FIG. It is a sectional side view of the display unit in the imaging device shown in FIG. It is a block diagram which shows the electrical structure of the imaging device shown in FIG. It is a flowchart which shows operation
  • FIG. 2 is an external view showing a configuration of a control unit in the case where an imaging apparatus of the remote operation support system shown in FIG. 1 is further provided with a change angle setting unit.
  • FIG. 2 is a block diagram illustrating a configuration of the imaging apparatus when the imaging apparatus of the remote operation support system illustrated in FIG. 1 further includes an imaging range setting unit.
  • FIG. 2 is an external view showing a configuration of a control unit in the photographing apparatus when the photographing apparatus of the remote operation support system shown in FIG. 1 further includes a photographing range setting unit.
  • FIG. 2 is a block diagram illustrating a configuration of the imaging apparatus when the imaging apparatus of the remote operation support system illustrated in FIG. 1 is provided with an image in a line-of-sight direction by trimming.
  • 6 is a flowchart showing the operation of the imaging apparatus when the imaging apparatus of the remote operation support system shown in FIG. 1 is provided with an image in the line of sight direction obtained by trimming.
  • FIG. 2 is a conceptual diagram for explaining the operation of the imaging apparatus when the imaging apparatus of the remote operation support system shown in FIG. 1 is provided with obtaining an image in the line of sight direction by trimming.
  • FIG. 1 is a diagram illustrating a configuration of a remote work support system according to the embodiment.
  • FIG. 2 is an external perspective view illustrating a configuration of the imaging device in the remote operation support system according to the embodiment.
  • FIG. 3 is a perspective view illustrating a configuration of a drive unit in the imaging apparatus according to the embodiment.
  • FIG. 4 is a conceptual diagram for explaining an attached state of the angular velocity sensor unit in the photographing apparatus according to the embodiment.
  • FIG. 5 is a side sectional view of the display unit in the photographing apparatus according to the embodiment.
  • FIG. 6 is a block diagram illustrating an electrical configuration of the imaging apparatus according to the embodiment.
  • the remote operation support system images a subject in a predetermined direction of the worker so that an instructor in a different place away from the worker can observe the image of the photographed subject.
  • the instruction of the instructor referring to the image of the subject is provided to the worker.
  • Such a remote work support system S is used by a worker W as shown in, for example, FIGS. 1 to 6 and is in a predetermined direction of the worker W, for example, in the line of sight of the worker W, for example, a work target
  • An instructor A receives an image of a subject photographed by the photographing device 1 through a network (communication network) NT and a photographing device 1 that photographs a subject such as an object and transmits the photographed subject image.
  • the received image of the subject is displayed so that it can be seen, the instruction of the instructor A referring to the image of the object is received, and the instruction of the received instruction A is output from the photographing apparatus 1 And a remote support device 5 that transmits an instruction of the instructor A to the photographing apparatus 1 via the network NT.
  • the remote support device 5 is provided at a location distant from the photographing device 1 and is connected to the photographing device 1 through the network NT so as to be able to exchange data with the photographing device 1.
  • a main server computer device hereinafter abbreviated as “main server PC”
  • support record server PC hereinafter abbreviated as “support record server PC”
  • content server PC a computer device
  • the network NT is a communication network such as a telephone network, a digital communication network, and a wireless communication network, and data is transmitted using a predetermined communication protocol.
  • the network NT is a public network NTa such as a public telephone network (fixed telephone network), a digital communication network such as ISDN, and a mobile telephone network (cellular phone network), and an Ethernet (registered trademark), for example.
  • a local area network (LAN; private network) NTb a local area network (LAN; private network) NTb.
  • the public network NTa configures the Internet using an Internet protocol such as FTP (File Transfer Protocol) or TCP / IP (Transmission Control Protocol / Internet Protocol) as a communication protocol
  • the private network NTb includes, for example, the Internet A protocol is used to construct an intranet.
  • the photographing apparatus 1 is communicably connected to the public network NTa, and the main server PC 6, the support recording server PC 7, and the content server PC 7 of the remote support apparatus 5 are private so that they can exchange data with each other.
  • the network NTb is communicably connected, and the public network NTa and the private network NTb are communicably connected.
  • the main server PC 6 displays the video of the subject received from the photographing apparatus 1 via the network NT, accepts the instruction of the instructor A referring to the video of the subject, and sends the received instruction of the instructor A to the network NT.
  • a server computer that transmits to the imaging device 1 via, for example, a computer 61 that controls the entire main server PC 6, and an input device such as a keyboard 62 a or a mouse 62 b for receiving and inputting an instruction from the instructor A 62 and an output device 63 such as a display 63a for displaying an image, for example.
  • the computer 61 includes a communication interface circuit (network card) similar to a network interface unit 68 (to be described later) in the photographing apparatus 1 for communicably connecting to the network NT (private network NTb). Control of transmitting the instruction of the instructor A received (input) from the keyboard 62a and the mouse 62b to the photographing apparatus 1 via the network NT while displaying the video of the subject received via the network NT on the display 63a. Do. The instruction from the instructor A is received by the photographing apparatus 1 via the network NT and displayed on a display unit 40 described later in the photographing apparatus 1.
  • NT private network NTb
  • the support recording server PC 7 stores and records support data exchanged between the photographing apparatus 1 and the remote support apparatus 5 and provides support data corresponding to the request to the client apparatus according to the request of the client apparatus. It is.
  • the support storage server PC7 uniquely displays the subject video by the photographic video apparatus 1 with date / time information such as date and time under the control of the computer 61 or by monitoring the communication signal transmitted through the private network NTb.
  • the support data is recorded in association with each other, and the instruction of the worker A by the remote support device 5 is recorded as support data in association with date / time information such as date and time.
  • the support record server PC 7 stores and records support data as a history of the remote work support system S.
  • the remote operation support system S of the present embodiment is configured so that not only video but also sound such as voice can be exchanged between the image capturing device 1 and the remote support device 5.
  • the device 1 includes earphones 51L and 51R as a sound input / output unit 50 and a microphone 52.
  • the main server PC 6 further includes a microphone 62c as an input device 62, and a speaker as an output device 63. 63b is further provided.
  • the computer 61 outputs a sound such as a sound received from the photographing apparatus 1 via the network NT (a sound collected by the microphone 52) from the speaker 63b and receives (inputs) an instruction from the microphone 62c.
  • Control is performed to transmit the instruction A (voice instruction) to the photographing apparatus 1 via the network NT.
  • the voice instruction of the instructor A is received by the photographing apparatus 1 via the network NT and output from the earphones 51L and 51R in the photographing apparatus 1.
  • the support recording server PC7 records the sound by the photographing device 1 as support data in association with date / time information according to the control of the computer 61 or independently, and also gives the voice instruction of the worker A by the remote support device 5 It is recorded as support data in association with date and time information.
  • the instruction from the instructor A includes not only data such as text data and voice instructions directly input to the remote support device 5 by the worker W, but also work objects, for example.
  • Support content such as video and audio that assists the work when the worker W performs work, such as a reference video representing work, a work manual showing work procedures, and an instruction manual showing how to handle the product.
  • Information such as a reference video representing work, a work manual showing work procedures, and an instruction manual showing how to handle the product.
  • the content server PC 8 is a server computer that stores the support content and provides support content corresponding to the request to the client device according to the request of the client device.
  • the computer 61 of the main server PC 6 receives an instruction (content selection instruction) for selecting the support content of the instructor A from the keyboard 62a and the mouse 62b, and sends the support content corresponding to the content selection instruction via the network NT.
  • the content server PC8 is controlled so as to be transmitted to. Under the control of the computer 61, the content server PC8 transmits support content corresponding to the content selection instruction to the photographing apparatus 1 via the network NT and provides the support apparatus with the support content.
  • An imaging device 1 that is preferably used in combination with such a remote support device 5 is worn on the head of the worker W, photographs a subject that is substantially along the line of sight of the worker W (wearer), and A head-mounted imaging device (camera) that transmits a photographed subject image to the remote support device 5 via the network NT.
  • the mounting unit 10 and the imaging unit 20 an angular velocity sensor unit 30, a display unit 40, a sound input / output unit 50, and a control unit 60.
  • the mounting unit 10 is a device for mounting on the head of the worker W, and in this embodiment, has a structure imitating glasses for correcting vision. That is, the mounting unit 10 of the present embodiment includes a pair of left and right temples 11L and 11R, a bridge 12, a pair of left and right nose pads 13L and 13R, and a pair of left and right transparent members 14L and 14R. .
  • the temples 11L and 11R are elongate rod-shaped members made of, for example, an elastic material, and have an ear-hook portion that is hung on the ear of the wearer (here, worker W) at one end.
  • the end portion has a holding portion that is fixed to and held by the transparent members 14L and 14R via the rotating portions 11La and 11Ra, and is held on the ear or the temporal region of the operator W. This is for adjusting the holding and mounting position of W on the head.
  • fixing means such as adhesion with an adhesive or screwing with screws is used.
  • the photographing apparatus 1 rotates the temples 11L and 11R in the directions of arrows P and Q having different rotation directions by the rotation of the rotation units 11La and 11Ra, so that the temples 11L and 11R become the transparent members 14L and 14R. By keeping it along, it can be folded compactly when not in use.
  • the bridge 12 is a short bar-like member for connecting the pair of left and right transparent members 14L and 14R to each other, and is fixed to the transparent members 14L and 14R at both ends thereof by means similar to the means for fixing the temples 11L and 11R. .
  • the pair of left and right transparent members 14 ⁇ / b> L and 14 ⁇ / b> R are held by the bridge 12 in a relative positional relationship with a predetermined interval.
  • the nose pads 13 ⁇ / b> L and 13 ⁇ / b> R are members for holding the wearing unit 10 on the face of the wearer (worker W in this case), and are connected to the bridge 12 through each leg.
  • the transparent members 14L and 14R are made of a material transparent to visible light such as resin such as polycarbonate or polyethylene terephthalate, glass, etc., and are rectangular with rounded corners, such as the outer shape of eyeglass lenses for correcting vision. It is a plate-shaped member.
  • the transparent members 14L and 14R do not have to have an adjustment power for correcting vision from the viewpoint of the original function of the photographing apparatus 1, but may have an adjustment power for correcting vision.
  • a substantially U-shaped cutout portion 14Rs for fitting the eyepiece optical system 41 of the display unit 40 to the transparent member 14R corresponding to the right eye is formed on one of the transparent members 14L and 14R. Yes.
  • These temples 11L and 11R, the bridge 12 and the nose pads 13L and 13R constitute a so-called spectacle frame. It is mounted at a predetermined distance and a predetermined position.
  • the mounting unit 10 is configured to fix and hold the transparent members 14L and 14R by the temples 11L and 11R and the bridge 12, but includes a pair of left and right rims, and through these rims.
  • the transparent members 14L and 14R may be configured to be fixed and held.
  • Each rim is, for example, an annular or semi-annular member having an inner groove, and the transparent members 14L and 14R are fixed and held by fitting the outer peripheral portions of the transparent members 14L and 14R into the ring or semi-ring. It is.
  • the photographing unit 20 is a device that photographs a subject such as an external scene around a work object or a wearer (worker W in this case), and a drive unit so that the optical axis thereof can be changed in the vertical plane. 25, the mounting unit 10 is provided.
  • the drive unit 25 is adjusted so that the optical axis thereof substantially matches the line-of-sight direction of the wearer. ing.
  • the photographing unit 20 can photograph within the wearer's front visual field.
  • the photographing unit 20 is rotatably attached to one end portion of the display unit main body 45, and the display unit main body 45 is fixed to the transparent member 14R of the mounting unit 10 via the eyepiece optical system 41. Is attached to the mounting unit 10.
  • the imaging unit 20 functions as a camera within the field of view of the wearer (here, worker W) and is held by the mounting unit 10, so that the imaging device 1 is configured in a compact manner. Also, the operator W becomes hands-free and can perform work using both hands.
  • the photographing unit 20 includes a photographing optical system 21, an imaging element 22, an analog front end 23, a video control unit 24, a drive unit 25, and a photographing direction control unit 26. And is configured.
  • the photographing optical system 21 and the image pickup device 22 are housed in a bottomed substantially cylindrical casing (imaging unit main body) 27, and the objective side of the photographing optical system 21 is outside the casing 27.
  • the image pickup device 22 is disposed at the bottom of the housing 27 so as to face the housing 27.
  • the photographing optical system 21 is an optical system for forming an optical image (light image) of a subject on the light receiving surface of the image sensor 22.
  • the photographing optical system 21 may be a single focus optical system or a variable magnification optical system having a zoom function for zooming. Further, the photographing optical system 21 may be configured to have an autofocus (AF) function.
  • AF autofocus
  • the image sensor 22 performs photoelectric conversion into image signals of R (red), G (green), and B (blue) components in accordance with the amount of light in the optical image of the subject formed on the light receiving surface by the photographing optical system 21. And output to the analog front end 23.
  • a CCD type color image sensor, a CMOS type color image sensor, or the like is used for the imaging element 22.
  • a CMOS color image sensor is used, and the CMOS color image sensor is, for example, each color transmission filter corresponding to each light of R (red) light, G (green) light, and B (blue) light.
  • the analog front end 23 controls the driving of the image sensor 22 based on a predetermined reference clock, performs a known analog signal process on the image signal obtained by the image sensor 22, converts the image signal into a digital video signal, and controls the video. It is a circuit that outputs to the unit 24.
  • the video control unit 24 performs well-known image processing such as black level correction processing, pixel interpolation processing, white balance adjustment processing, gamma ( ⁇ ) correction processing, shading correction processing, and the like on the video signal input from the analog front end 23. It is the circuit which applies.
  • the video control unit 24 writes the video signal input from the analog front end 23 in the image memory 61 in the control unit 60 in synchronization with the image signal readout clock in the CMOS type color image sensor. That is, the video signal is once written from the analog front end 23 to the image memory 61, and when predetermined image processing is performed, the video signal is read from the image memory 61 to the video control unit 24 and subjected to each image processing. . Then, the video signals subjected to these image processes are written again in the image memory 61 and stored (stored).
  • the drive unit 25 is a drive mechanism that drives the photographing unit body 27 of the photographing unit 20 so as to change the photographing direction of the photographing unit 20 according to the control of the photographing direction control unit 26. More specifically, in the present embodiment, for example, as illustrated in FIG. 3, the drive unit 25 includes a drive motor 251, gears 252 (252 a and 252 b), and first and second rod members 253 and 254. It is configured with.
  • the second rod member 254 is a connecting member that connects the photographing unit main body 27 and the first rod member 253. More specifically, in the present embodiment, the second rod member 254 is, for example, a short rod-like member, and one end of the second rod member 254 is fixedly connected to the photographing unit main body 27 by a predetermined fixing means, and the other One end thereof is fixedly connected to the peripheral surface of the first rod member 253 by a predetermined fixing means. Examples of the predetermined fixing means include adhesion, welding, and screwing.
  • the first rod member 253 is a rotation support shaft of the photographing unit main body 27. More specifically, the first rod member 253 is, for example, a rod-shaped member in the present embodiment, and a second rod member 254 is fixedly erected on the peripheral surface thereof, and a gear is disposed at one end thereof. A second gear 252b of 252 is provided, and the other end is supported by a bearing member (not shown).
  • the drive motor 251 is an electric motor that generates a rotational driving force for driving the photographing unit main body 27 of the photographing unit 20 in accordance with the control of the photographing direction control unit 26, and an output shaft (driving shaft) that outputs the driving force. Is provided with a first gear 252 a of the gear 252.
  • the gear 252 is a mechanism that transmits the driving force generated by the driving motor 251 to the first rod member 253. More specifically, in this embodiment, the gear 252 includes, for example, first and second gears 252a and 252b. As described above, the first gear 252a is the output shaft of the drive motor 251. The second gear 252b is provided at one end of the first rod member 253, and the first gear 252a and the second gear 252b mesh with each other.
  • the imaging direction control unit 26 is a driving unit when the downward angle of the head of the worker W (wearer) with respect to the horizontal direction is equal to or greater than a predetermined angle.
  • 25 is a device that performs control to change the shooting direction of the shooting unit 20.
  • the shooting direction control unit 26 includes a drive control unit 261 and a head angle determination unit 262.
  • the head angle determination unit 262 determines whether or not the downward angle of the head of the worker W with respect to the horizontal direction is greater than or equal to a predetermined angle. The determination result is notified to the drive control unit 261.
  • the drive control unit 261 controls the drive unit 25 so that the shooting direction of the shooting unit 20 faces a predetermined direction according to the determination result notified from the head angle determination unit 262.
  • the head angle determination unit 262 continues the downward angle of the head of the worker W with respect to the horizontal direction for a predetermined time or more. And the determination result is notified to the drive control unit 261.
  • the drive control unit 261 determines that the determination result is a detection result detected by the angular velocity sensor unit 30. Based on this, when the downward angle of the head of the worker W with respect to the horizontal direction is continuously 20 degrees or more for a predetermined time or longer, the drive unit 25 is set so that the shooting direction of the shooting unit 20 is 30 degrees downward. Is to control.
  • the predetermined time is appropriately set in advance from the viewpoint of determining whether or not the worker W is working downward, for example, 2 seconds, 3 seconds, 4 seconds, or the like.
  • a drive force of rotation is generated by operating the drive motor 251 according to the control of the photographing direction control unit 26, and this drive force causes the first gear 252a and the second gear 252b to move.
  • the photographing unit main body 27 is moved upward or downward in the vertical plane through the second rod member 254 erected on the first rod member 253 as indicated by an arrow D in FIG.
  • the first rod member 253 is rotated around the first rod member 253 around the axis.
  • the photographing unit main body 27 When the photographing unit main body 27 rotates in this way, the optical axis of the photographing optical system 21 provided in the photographing unit main body 27 also rotates upward or downward in the vertical plane, and the photographing direction is vertical. The shooting direction is changed by rotating upward or downward in the plane.
  • the photographing unit main body 27 functions as a lens barrel from the above-described viewpoint, and it is sufficient to accommodate at least the photographing optical system 21.
  • Other configurations of the photographing unit 20 may be disposed at appropriate places.
  • the angular velocity sensor unit 30 detects the angular velocity in the vertical direction on the head of the wearer (worker W in this case) and integrates the detected angular velocity, so that the downward angle of the head relative to the horizontal direction (head The amount of rotation of the image capturing unit 20 is detected, and the detection result is output to the image capturing direction control unit 26 of the image capturing unit 20.
  • the angular velocity sensor unit 30 includes, for example, a piezoelectric vibration gyro sensor that can detect a biaxial or triaxial angular velocity. For example, as shown in FIG. It is mounted on a mounting board 70 on which (control microcomputer) is mounted.
  • the mounting board 70 is built in the display unit main body 45 that is fixedly attached to the mounting unit 10, whereby the angular velocity sensor unit 30 is fixedly attached to the mounting unit 10.
  • the control microcomputer is, for example, a computer including a microprocessor, a memory, and its peripheral circuits, and functionally configures the AFE 23, the video control unit 24, the photographing direction control unit 26, and the like.
  • the integration of the angular velocity may be executed by an integration circuit provided in the angular velocity sensor unit 30 or may be executed by the head angle determination unit 262 in the imaging direction control unit 26 of the imaging unit 20. .
  • the piezoelectric vibration gyro sensor is used for the angular velocity sensor unit 30, but the present invention is not limited to this, and another sensor may be used.
  • the downward angle of the head may be detected from the position and posture of the head with a magnetic sensor called a Pohimass sensor, or the downward angle of the head may be detected with a horizontal sensor using a pendulum.
  • the display unit 40 is a device that displays a predetermined image (video), and displays the instruction of the instructor A transmitted from the remote support device 5 via the network NT.
  • the instruction by the instructor A includes not only data such as text data directly input by the instructor A directly to the remote support device 5, but also support of the work when the worker W performs the work. Supporting content by the content server PC 8 such as video and audio is also included.
  • the display unit 40 also functions as an electronic viewfinder of the photographing unit 20 and can display an image photographed by the photographing unit 20. When an image of a subject photographed by the photographing unit 20 is displayed on a separate display device, the operator W can use the display device to view a region (subject) photographed by the photographing unit 20.
  • the operator W who is the photographer of the photographing unit 20 does not have to change the direction of the head in order to see the region (subject) photographed by the photographing unit 20. Therefore, it is possible to accurately recognize the region (subject) that the operator W is photographing with the photographing unit 20 without having to deflect the line of sight.
  • the display unit 40 may be configured as a separate body without being attached to the mounting unit 10, but displays the instruction of the instructor A within the field of view of the operator W, and the operator W refers to the instruction of the instructor A.
  • the mounting unit 10 is attached to one transparent member 14R so that the work can be performed.
  • Such a display unit 40 includes, for example, an eyepiece optical system 41, an image generation unit 42, an illumination optical system 43, a light source unit 44, and these image generation units as illustrated in FIGS. 2, 5, and 6. 42, the illumination optical system 43 and the light source unit 44, and a display unit main body 45 that is a housing attached to the eyepiece optical system 41.
  • the imaging unit body 26 of the imaging unit 20 is rotatably attached to one end of the display unit body 45, and a part of the imaging unit 20 and the angular velocity sensor unit 30 are incorporated therein.
  • An eyepiece optical system 41 extends from the bottom to the outside.
  • the cable 46 extends from the other end of the display unit main body 45, and the photographing unit 20, the angular velocity sensor unit 30, the display unit 40, the sound input / output unit 50, and the control unit 60 can exchange data with each other.
  • the cable 46 is electrically connected.
  • the light source unit 44 is a device that emits light of a predetermined wavelength, and is, for example, a point light source composed of a white light emitting diode (hereinafter abbreviated as “white LED”) including a predetermined wavelength color.
  • white LED white light emitting diode
  • the illumination optical system 43 is a device that receives the light emitted from the light source unit 44 and generates illumination light that illuminates the image generation unit 42 from the incident light emitted.
  • the diffusivity depends on the direction. Is different, and includes a unidirectional diffuser plate 43a that diffuses the incident emitted light in one direction, and a condenser lens 43b that condenses the light diffused by the unidirectional diffuser plate 43a. More specifically, for example, in the present embodiment, the unidirectional diffuser plate 43a diffuses the emitted light incident from the light source unit 44 at about 40 degrees in a direction perpendicular to the paper surface of FIG. 5 and the paper surface of FIG. It diffuses at about 0.2 degree in the direction parallel to the.
  • the image generation unit 42 is an apparatus that generates an image by illuminating the illumination light of the illumination optical system 43 and modulating the intensity of the illumination light for each RGB according to the image signal of the VRAM 64 in each pixel.
  • a transmissive LCD device transmissive liquid crystal display device
  • the eyepiece optical system 41 is a device for guiding the video generated by the video generation unit 42 to the eyes of the wearer (worker W), and includes, for example, an optical prism 41a and a reflection unit 41b. .
  • the optical prism 41a is a member made of a material transparent to visible light such as glass or transparent resin, for example, and is a parallel plate formed such that a pair of main surfaces facing each other are substantially parallel.
  • the upper end portion (upper surface portion) of the optical prism 41a is the incident surface of the image light generated by the image generation unit 42 on the upper surface, and the thick portion 411 is provided so that most of the image light can be taken inside. Is formed.
  • the thick portion 411 is formed in a wedge shape with the front side (opposite to the eyepiece surface) protruding so as to become thicker upward.
  • the lower end portion (bottom surface portion) of the optical prism 41a is formed with an inclined portion 412 that is cut obliquely, and the inclined portion 412 is provided with a reflecting portion 41b.
  • the optical prism 41a causes the image light incident from the upper end portion thereof to be reflected a plurality of times therein, and guides the image light to the reflection portion 41b. More specifically, the optical prism 41a repeats total reflection of the image light incident from the upper end portion thereof alternately on the pair of main surfaces, and guides the image light to the reflection portion 41b.
  • the reflection unit 41b is an optical element that reflects the image light guided by the optical prism 41a to the rear surface side (eyepiece surface side) in cooperation with the inclined portion 412 of the optical prism 41a. Films, hologram optical elements, and the like.
  • the reflection section 41b is a hologram optical element (HOE) that generates a hologram.
  • HOE hologram optical element
  • a volume phase type hologram optical element is constituted by a so-called free-form surface that is optically axisymmetric and has a positive optical power.
  • the reflection type hologram optical element is configured to diffract image light having a predetermined wavelength, and the light source unit 44 emits light having a predetermined wavelength corresponding to the diffraction wavelength of the reflection type hologram optical element.
  • the reflection type hologram optical element is manufactured so as to diffract image lights having wavelengths of 465 nm ⁇ 10 nm, 520 nm ⁇ 10 nm, and 635 nm ⁇ 10 nm corresponding to RGB (red, green, and blue),
  • the light source unit 44 includes an RGB integrated white LED having center wavelengths of 465 nm, 520 nm, and 635 nm.
  • the photosensitive material of the reflection type hologram optical element include a photopolymer, a silver salt material, and dichromated gelatin. In particular, a photopolymer is preferable because it can be manufactured by a dry process.
  • the cutout portion 14Rs of the transparent member 14R has a shape corresponding to the shape of the optical prism 41a so that the optical prism 41a is fitted without a gap.
  • the transparent member 14R and the eyepiece optical system 41 are integrated into a single plate, and the reflecting portion 41b provided on the inclined portion 412 is sandwiched between the optical prism 41a and the transparent member 14R. Buried.
  • the transparent member 14R and the optical prism 41a constitute a cemented optical prism in which the reflecting portion 41b is embedded in two transparent materials. For this reason, when the reflection part 41b does not touch external air and the reflection part 41b is a hologram optical element, it becomes possible to maintain the performance of the hologram stably.
  • the image light guided by the optical prism 41a is reflected by the reflecting portion 41b. More specifically, in this embodiment, the image light is diffracted by the reflective hologram optical element and guided to the optical pupil E as a virtual image.
  • the wearer (worker W) can view the image (hologram image) by causing the image light of the optical pupil E to enter the pupil.
  • the display unit 40 the video based on the video signal of the VRAM 64 is displayed on the transmissive LCD device of the video generation unit 42, and the video obtained by the transmissive LCD device of the video generation unit 42 is displayed by the eyepiece optical system 41.
  • a virtual image is projected directly onto the eyeball of the wearer (worker W), as if the image is magnified and projected in the air.
  • the wearer can see the external light without being substantially distorted.
  • the volume phase type reflection hologram optical element diffracts only light having a specific wavelength at a specific incident angle, the external light hardly affects the external light.
  • the wearer (worker W) can see the outside world almost as usual through the reflection type hologram optical element and the optical prism 41a of the portion 41b.
  • the volume phase reflection hologram optical element functions as a combiner optical element that synthesizes reflected light in a specific wavelength range and transmitted light in other wavelength ranges.
  • the visible light transmittance of the outside light in the display unit 40 can be secured to about 85% or more, the outside light transmittance is high, and the wearer (worker W) can see-through and the outside world is good.
  • the workability of the wearer (worker W) can be improved.
  • the eyepiece optical system 41 is disposed on the transparent member 14R corresponding to the right eye, and the image displayed on the display unit 40 can be observed with the right eye. Can be observed (of course, the left eye can observe the outside world).
  • the eyepiece optical system 41 is configured to reflect the image light inside the optical prism 41a and guide it to the optical pupil E by the volume phase type reflection hologram optical element of the reflection portion 41b. Therefore, the thickness of the transparent member 14R can be approximately the same as that of a normal eyeglass lens (for example, about 3 mm), and is small and lightweight. Since the reflection is total reflection in the present embodiment, the wearer (operator W) sees the outside without substantially reducing the transmittance of the outside light through the pair of main surfaces of the transparent member 14R. be able to.
  • the sound input / output unit 50 is a circuit for inputting and outputting sound, and includes a pair of left and right earphones 51L and 51R that output sound and a microphone 52 that collects sound.
  • the microphone 52 is attached to the tip of a substantially L-shaped arm 53 extending from the temple 11L of the mounting unit 10 to collect the voice of the worker W when the mounting unit 10 is mounted by the worker W. .
  • the voice of the operator W is collected by the microphone 52 of the sound input unit 50, and the voice data of the voice is transmitted from the photographing apparatus 1 to the remote support apparatus 5 via the network NT.
  • the main server PC 6 of the remote support apparatus 5 The sound of the sound data is output from the speaker 63b.
  • the voice of the instructor A is collected by the microphone 62c in the main server PC 6 of the remote support apparatus 5, and the voice data of this voice is transmitted from the remote support apparatus 5 to the photographing apparatus 1 via the network NT.
  • the sound of this sound data is output from one earphone 51L, 51R.
  • audio support content is transmitted from the content server PC8 to the image capturing apparatus 1 via the network NT, and the audio support content is output from the earphones 51L and 51R of the image capture apparatus 1.
  • the earphones 51L and 51R of the photographing apparatus 1 may be only one.
  • the remote work support system S of the present embodiment can give a voice instruction to the worker W, and for example, sound such as voice can be exchanged between the photographing apparatus 1 and the remote support apparatus 5.
  • the worker W and the instructor A can communicate by voice.
  • the operator W wearer
  • the remote work support system S of the present embodiment will be described later.
  • the remote work support system S of the present embodiment is effective.
  • the control unit 60 is a circuit that controls the entire photographing apparatus 1.
  • the control unit 60 may be attached to the mounting unit 10 such as the photographing unit 20, the angular velocity sensor unit 30, and the display unit 40, but reduces the weight of the portion attached to the head of the operator W in the photographing apparatus 1. Therefore, in the present embodiment, the mounting unit 10 is provided separately from the mounting unit 10 without being attached to the mounting unit 10, and as described above, the photographing unit 20, the angular velocity sensor unit 30, and the display unit 40 are provided by the cable 46.
  • the sound input / output unit 50 is electrically connected. For example, as shown in FIGS.
  • the control unit 60 includes an image memory 61, a control unit 62, a VRAM 64, a sound input processing unit 65, a sound output processing unit 66, and a power switch 67. And the network IF unit 68.
  • the image memory 61, the control unit 62, the VRAM 64, the sound input processing unit 65, the sound output processing unit 66, the power switch 67, and the network IF unit 68 have a substantially rectangular parallelepiped shape.
  • the power switch 67 is disposed in the housing 69 so that its operation part faces the outside of the housing 69
  • the network IF unit 68 has a housing so that its connector part faces the outside of the housing 69. 69.
  • the image memory 61 includes, for example, a volatile storage element such as a RAM (Random Access Memory) and its peripheral circuits, and is used as a work area of the video control unit 24 in the photographing unit 20 as described above.
  • a volatile storage element such as a RAM (Random Access Memory) and its peripheral circuits
  • the VRAM 64 is a so-called video RAM (Video RAM) configured to include a RAM and its peripheral circuits, and has at least a video signal storage capacity corresponding to the number of pixels of the video generation unit 42 in the display unit 40.
  • This is a buffer memory for buffering a video signal that constitutes a video that is reproduced and displayed by the generation unit.
  • the sound input processing unit 65 is a circuit that performs predetermined signal processing such as amplification and noise cut on the sound signal input from the microphone 52 in the sound input / output unit 50 and outputs the signal to the control unit 62.
  • the sound output processing unit 66 is a circuit that performs predetermined signal processing such as amplification and noise cut on the sound signal input from the control unit 62 and outputs the signal to the earphones 51L and 51R in the sound input / output unit 50. is there.
  • the power switch 67 is a switch circuit that activates the photographing apparatus 1 in order to operate the photographing apparatus 1.
  • the power switch 67 is turned on (switched on), for example, power is supplied from a power source such as a battery to each unit that requires power in the photographing apparatus 1.
  • the network IF unit 68 is a communication interface circuit for performing communication between the imaging device 1 and the remote support device 5 via the network NT, and uses the data input from the control unit 62 as a communication protocol of the network NT. It accommodates in the corresponding communication signal, transmits the accommodated communication signal to the network NT, receives the communication signal addressed to the photographing apparatus 1 from the network NT, extracts the data accommodated in the received communication signal, and controls it. The data is converted into a format that can be processed by the unit 62, and the converted data is output to the control unit 62.
  • the control unit 62 is a circuit that controls each unit of the imaging device 1 according to the function.
  • the control unit 62 may be various predetermined programs such as a control program for controlling the units of the imaging device 1 according to the function.
  • ROM Read Only Memory
  • a non-volatile storage element that stores various types of predetermined data such as data necessary for execution of a predetermined program, and predetermined arithmetic processing by reading and executing the predetermined program
  • a CPU Central Processing Unit
  • the control unit 62 may include a rewritable nonvolatile storage element such as an EEPROM (Electrically Erasable Programmable Read Only Memory).
  • FIG. 7 is a flowchart showing the operation of the photographing apparatus in the remote operation support system of this embodiment.
  • FIG. 8 is a conceptual diagram for explaining the operation of the photographing apparatus in the remote operation support system of this embodiment.
  • FIG. 8A shows a case where the wearer is facing the front direction
  • FIG. 8B is a case where the wearer is facing the downward direction and before the photographing direction of the photographing unit 20 is changed.
  • FIG. 8C shows a state where the wearer is facing downward and the photographing direction of the photographing unit 20 is changed.
  • the imaging device 1 in the remote operation support system S of the present embodiment operates as shown in FIG. 7 with respect to the control of the imaging direction of the imaging unit 20 when the wearer (here, the worker W) faces downward. ing. That is, in FIG. 7, in step S11, the angular velocity sensor unit 30 detects the angular velocity of the head of the worker W (wearer), and integrates the detected angular velocity so Are detected, and the detection result is output to the photographing direction control unit 26. In the photographing direction control unit 26, in step S12, when the detection result is input from the angular velocity sensor unit 30, it is determined whether or not the detection result satisfies a predetermined condition.
  • the detection result continues for a predetermined time or more and indicates that the angle is equal to or greater than a predetermined angle. More specifically, for example, it is determined whether or not the detection result continues for 3 seconds or more and indicates that it is 20 degrees or more downward with respect to the horizontal.
  • a predetermined condition Y
  • the process of step S13 is executed.
  • the process of step S14 Is executed.
  • step S13 the shooting direction of the shooting unit 20 is changed by a predetermined angle.
  • the drive unit 25 is driven in accordance with the control of the shooting direction control unit 26, and the shooting unit main body 26 is rotated by 30 degrees downward in the vertical direction with respect to the horizontal direction.
  • the photographing direction of the photographing unit 20 is changed by 30 degrees downward with respect to the horizontal direction.
  • the photographing direction (fine broken line) of the photographing unit 20 is set in the sight line direction (coarse broken line) of the worker W.
  • the shooting direction of the shooting unit 20 is set to the horizontal direction, the worker W is directed downward so that the worker W performs a work to be performed in a downward direction such as a desk work.
  • the shooting direction of the shooting unit 20 is maintained as it is, the line-of-sight direction of the operator W and the shooting direction of the shooting unit 20 do not match as shown in FIG. 8B.
  • the photographing direction of the photographing unit 20 is rotated by 30 degrees downward with respect to the horizontal direction.
  • the photographing direction of the photographing unit 20 is also coincident with the visual line direction of the operator W. It is to approach.
  • step S14 the shooting direction of the shooting unit 20 is returned to the initial state.
  • the shooting direction of the shooting unit 20 is rotated upward by 30 degrees, and as a result, the shooting direction of the shooting unit 20 faces the horizontal direction.
  • step S15 the video signal photographed by the photographing unit 20 is transmitted from the photographing device 1 to the remote support device 5.
  • the remote support device 5 when this video signal is received, the video based on the video signal is displayed on the display 63a.
  • the instructor A can refer to the subject in the front visual field of the worker W (wearer), and can observe the work target, for example.
  • the video signal shot in this way is also displayed on the display unit 40 of the shooting apparatus 1. As a result, the worker W (wearer) can see the area photographed by the photographing unit 20.
  • step S16 it is determined whether or not such shooting direction control has ended. If the result of this determination is that control has ended (Y), the process ends and control ends. If not (N), the process returns to step S11.
  • the photographing unit 20 for photographing the subject is provided in the mounting unit 10, and when the worker W (wearer) faces downward, the photographing direction also decreases. Facing.
  • the downward angle of the head of the worker W (wearer) with respect to the horizontal direction is detected based on the angular velocity of the head detected by the angular velocity sensor unit 30, and the detected downward angle is set in advance.
  • the driving unit 25 drives the photographing unit body 27 of the photographing unit 20 to photograph the photographing unit 20. The direction is changed and adjusted.
  • the remote work support system S and the imaging device 1 of the present embodiment are the head-mounted camera, even when the worker W (wearer) faces downward, the line of sight of the worker W (wearer). It is possible to make the shooting direction of the camera substantially in the direction.
  • the predetermined angle that is a threshold angle for determining whether or not the worker W (wearer) is looking downward is 20 degrees.
  • an operator varies depending on individual differences when the horizontal direction is set to 0 degrees (reference).
  • the photographing unit Since the shooting direction of 20 is changed, for example, when the worker W (wearer) lowers his / her head for a short time due to some factor such as a whispering action or attention, the shooting direction of the shooting unit 20 is changed. Therefore, it is possible to prevent the shooting direction of the shooting unit 20 from being frequently changed.
  • the photographing unit 20 is mounted so that the photographing direction of the photographing unit 20 is changed to the horizontal direction in the initial state.
  • it is set to any angle in the range from 25 degrees to 35 degrees downward, for example, 30 degrees.
  • an operator wearer
  • the line-of-sight direction is inclined further downward from the inclination of the head within a range of about 25 degrees to about 35 degrees.
  • the imaging unit is considered by taking into account the variation in individual differences, the elements actually used in the photographing apparatus 1, the manufacturing variation of the photographing apparatus 1 itself, and the like. Since the change angle of the 20 shooting directions is set to any angle in the range from 25 degrees to 35 degrees downward, for example, 30 degrees, the worker W (wearer) performs the work in the downward direction. In this case, it is possible to more appropriately direct the shooting direction of the camera to the line of sight of the worker W (wearer).
  • the remote work support system S may further include a change angle setting unit that sets an angle for changing the shooting direction of the shooting unit 20.
  • a change angle setting unit that sets an angle for changing the shooting direction of the shooting unit 20.
  • Such a change angle setting unit may be further provided in the photographing device 1 or may be further provided in the remote support device 5.
  • the remote work support system S can cope with the variation due to the individual difference, for example, according to the body shape or work state of the worker.
  • the shooting direction can be adjusted and the change angle setting unit is further provided in the remote support device 5, for example, a variation due to individual differences, a worker's body shape, work, etc.
  • the shooting direction of the shooting unit 20 can be adjusted according to the state or the like.
  • FIG. 9 is a block diagram illustrating a configuration of the imaging apparatus when the imaging apparatus of the remote operation support system according to the embodiment further includes a change angle setting unit.
  • FIG. 10 is an external view illustrating a configuration of a control unit when the imaging device of the remote operation support system according to the embodiment further includes a change angle setting unit.
  • the photographing apparatus 1A further provided with the change angle setting unit includes an unillustrated mounting unit 10, photographing unit 20, angular velocity sensor unit 30, display unit 40, sound input / output unit 50, and A control unit 60A is provided.
  • the mounting unit 10, the photographing unit 20, the angular velocity sensor unit 30, the display unit 40, and the sound input / output unit 50 are the mounting unit 10 and the photographing unit 20 in the photographing apparatus 1 according to the embodiment described with reference to FIGS. 1 to 8. Since it is the same as the angular velocity sensor unit 30, the display unit 40, and the sound input / output unit 50, description thereof is omitted.
  • the control unit 60A is a circuit that performs overall control of the photographing apparatus 1A, and includes an image memory 61, a control unit 62A, a VRAM 64, a sound input processing unit 65, a sound output processing unit 66, and a switch unit 81. , A display monitor unit 82, a setting operation receiving unit 83A, a change angle storage unit 84, and a network IF unit 68.
  • image memory 61, control unit 62A, VRAM 64, sound input processing unit 65, sound output processing unit 66, switch unit 81, display monitor unit 82, setting operation receiving unit 83A, change angle storage unit 84, and network IF unit 68 are:
  • the housing 80 is accommodated in a substantially rectangular parallelepiped shape.
  • the image memory 61, the VRAM 64, the sound input processing unit 65, the sound output processing unit 66, and the network IF unit 68 are the image memory 61 and the VRAM 64 in the photographing apparatus 1 of the above-described embodiment described with reference to FIGS. Since it is the same as the sound input processing unit 65, the sound output processing unit 66, and the network IF unit 68, description thereof will be omitted.
  • the switch unit 81 includes a power switch (power SW) 81a and a monitor switch (monitor SW) 81b.
  • the power SW 81a is the same as the power switch 67, and is a switch circuit that activates the photographing apparatus 1A in order to operate the photographing apparatus 1A.
  • the monitor SW 81b is a switch circuit that activates the display monitor unit 82.
  • Each of the power SW 81a and the monitor SW 81b is, for example, a push switch or the like, and is arranged on the upper surface of the main surface of the housing 80 so that its operation button faces the outside of the housing 80 as shown in FIG. The on signal and the off signal due to the switch operation of the operation button are output to the control unit 62A.
  • the display monitor unit 82 is a device that displays a predetermined image (video) according to the control of the control unit 62A, and displays the video imaged by the imaging unit 20.
  • the display monitor unit 82 is, for example, an LCD device, an organic EL display device, or the like, and is disposed in the middle of the main surface of the housing 80 so that the display screen faces the outside of the housing 80 as shown in FIG. Is done.
  • the setting operation accepting unit 83A is a device that accepts an operation input of the wearer (here, worker W), an up / down adjustment switch unit 831 for adjusting the photographing direction of the photographing unit 20 up and down, and this change angle adjustment mode. And a mode operation switch unit 832 for operating the device. Further, the up / down adjustment switch unit 831 includes an UP switch (UPSW) 831a for changing the shooting direction of the shooting unit 20 to an upward direction, and a DOWN switch (DOWNSW) for changing the shooting direction of the shooting unit 20 to a lower direction. 831b.
  • UPSW UP switch
  • DOWNSW DOWN switch
  • Each of these UPSW831a and DOWNSW831b is, for example, a push switch or the like, and is arranged on the left side of the lower surface of the main surface of the casing 80 so that its operation button faces the outside of the casing 80 as shown in FIG. Then, an ON signal due to the switch operation of the operation button is output to the control unit 62A.
  • the mode operation switch unit 832 switches the operation mode of the photographing apparatus 1A from the normal mode which is the normal operation described with reference to FIGS. 1 to 8 or the photographing range setting mode described later to the angle change setting mode.
  • ADJUST switch (ADJUSTSW) 832a the change angle is stored in the change angle storage unit 83, the SET switch (SETSW) 832b for setting the change angle, and the angle change setting mode is ended and END is returned to the normal mode.
  • a switch (ENDSW) 832c a switch (ENDSW) 832c.
  • Each of these ADJUSTSW 832a, SETSW 832b, and ENDSW 832c is, for example, a push switch or the like. As shown in FIG. An ON signal by the switch operation of the operation button is output to the control unit 62A.
  • the change angle storage unit 84 is an apparatus that stores an angle when changing the shooting direction of the shooting unit 20 set in the angle change setting mode, and includes a rewritable nonvolatile storage element such as an EEPROM, for example. Configured.
  • the control unit 62A is a circuit that controls each unit of the photographing apparatus 1A according to the function, and is configured by, for example, a microcomputer.
  • the control unit 62A in addition to the function of the control unit 62 in the photographing apparatus 1 of the above-described embodiment described with reference to FIGS. 1 to 8, further functions a change angle control unit that controls the operation in the change angle setting mode. 63a.
  • the change angle control unit 63a of the control unit 62A operates as follows in relation to the change angle setting mode.
  • the photographing apparatus 1A operates in the change angle setting mode by the switch operation of the ADJUSTSW 832a, and the image photographed by the photographing unit 20 is displayed on the display monitor unit 82 by the switch operation of the monitor SW 81b.
  • the casing 80 of the control unit 60A is selected. Then, place it on a work table (for example, on a desk) for work to be directed downward, and tilt the head downward so that it can be seen. Then, the operator W operates the up / down adjustment switch unit 831 so that the casing 80 of the control unit 60A is positioned at the approximate center of the display screen of the display monitor unit 82.
  • the drive unit 25 of the photographing unit 20 is driven by the change angle control unit 63a, and the photographing direction of the photographing unit 20 is moved upward and changed.
  • the change angle control unit 63a drives the drive unit 25 of the photographing unit 20, and the photographing direction of the photographing unit 20 is moved downward and changed.
  • the operator W operates the SETSW 832b when the casing 80 of the control unit 60A is positioned at the approximate center of the display screen of the display monitor unit 82.
  • the shooting direction of the shooting unit 20 is detected by, for example, the driving amount of the drive unit 25 based on the control signal, an unillustrated encoder attached to the drive unit 25, and the like.
  • the change angle control unit 63a stores and stores the angle in the change angle storage unit 84.
  • the operator W operates the ENDSW 832c to return from the change angle setting mode to the normal mode.
  • the photographing apparatus 1A returns from the change angle setting mode to the normal mode, and the photographing apparatus 1A operates in the normal mode.
  • a default (angle 0 degree) angle may be used and stored in the change angle storage unit 84.
  • An angle may be used.
  • the remote work support system S and the photographing apparatus 1A can set an angle for changing the photographing direction of the photographing unit 20.
  • the change angle control unit 63a and the setting operation reception unit 83A correspond to an example of a change angle setting unit.
  • the remote operation support system S may further include a shooting range setting unit that sets a shooting range shot by the shooting unit 20.
  • the remote work support system S can adjust the resolution of the subject image shot by the shooting unit 20 in accordance with the size (size) of the subject.
  • Such a photographing range setting unit may be further provided in the photographing device 1 or may be further provided in the remote support device 5.
  • the remote work support system S can adjust the resolution of the subject image photographed by the photographing unit 20 in accordance with the size (size) of the subject.
  • the remote support device 5 is further provided with the shooting range setting unit, it is possible to adjust the resolution in the video of the subject shot by the shooting unit 20 so that the instructor A can easily give an instruction. .
  • FIG. 11 is a block diagram illustrating a configuration of the imaging apparatus when the imaging apparatus of the remote operation support system according to the embodiment further includes an imaging range setting unit.
  • FIG. 12 is an external view illustrating a configuration of a control unit in the photographing apparatus when the photographing apparatus of the remote operation support system according to the embodiment further includes a photographing range setting unit.
  • FIG. 11 and FIG. 12 show, as an example of an imaging device provided with an imaging range setting unit, an imaging device 1B provided with an imaging range setting unit in addition to an imaging device 1A provided with a change angle setting unit.
  • the control unit 60B further includes an imaging range storage unit 85.
  • the control unit 62B of the control unit 60B further includes a shooting range control unit 63b functionally
  • the setting operation reception unit 83B of the control unit 60B further includes a field angle adjustment switch unit 833.
  • the mode operation switch unit 832 of the setting operation reception unit 83B further includes a MODE switch (MODESW) 832d.
  • the photographing optical system 21 is configured with a zoom function.
  • An angle-of-view adjustment switch unit 833 includes a zoom + switch (zoom + SW) 833a for changing the angle of view of the photographing unit 20 to the telephoto end, and a zoom-switch (for changing the angle of view of the photographing unit 20 to the wide-angle end).
  • Zoom-SW zoom-switch
  • Each of these zoom + SW 833a and zoom-SW 833b is, for example, a push switch or the like. As shown in FIG. 12, the left side of the lower surface of the main surface of the casing 80 so that its operation button faces the outside of the casing 80. The ON signal by the switch operation of the operation button is output to the control unit 62B.
  • MODESW 832d is a switch for switching the operation mode of the photographing apparatus 1B from the normal mode or the angle change setting mode to the photographing range setting mode.
  • This MODESW 832d is, for example, a push switch or the like, and is disposed on the right side of the lower surface of the main surface of the housing 80 so that its operation button faces the outside of the housing 80 as shown in FIG.
  • the ON signal generated by the button switch operation is output to the control unit 62B.
  • the SETSW 832b stores the change angle in the change angle storage unit 83 and sets the change angle in the angle change mode as described above, as well as the shooting range setting.
  • the shooting range (view angle) is stored in the shooting range storage unit 85, the shooting range is set, and the ENDSW 832c not only ends the angle change setting mode and returns to the normal mode in the angle change setting mode.
  • the shooting range setting mode the shooting range setting mode is terminated and the normal mode is restored.
  • the shooting range storage unit 85 is a device that stores a shooting range (angle of view) when the shooting range of the shooting unit 20 is changed, which is set in the shooting range setting mode.
  • a rewritable nonvolatile memory such as an EEPROM.
  • the memory element is configured.
  • the shooting range control unit 63b controls the operation in the shooting range setting mode.
  • the imaging range control unit 63b of the control unit 62B operates as follows regarding the imaging range setting mode.
  • the photographing apparatus 1B operates in the photographing range setting mode by the switch operation of MODESW 832d, and the image photographed by the photographing unit 20 by the switch operation of the monitor SW 81b is displayed on the display monitor unit 82.
  • an appropriate subject for example, the casing 80 of the control unit 60B.
  • a work table for example, on a desk
  • the operator W operates the angle-of-view adjustment switch unit 833 so that the casing 80 of the control unit 60A is displayed in a desired size on the display screen of the display monitor unit 82.
  • the zoom + SW 833a When the zoom + SW 833a is switched by this operation, the angle of view is adjusted toward the telephoto end by the zoom function of the photographing optical system 21.
  • the zoom-SW 833a When the zoom-SW 833a is switched by this operation, the angle of view is adjusted toward the wide-angle end by the zoom function of the photographing optical system 21.
  • the worker W operates the SETSW 832b when the casing 80 of the control unit 60B is displayed in a desired size on the display screen of the display monitor unit 82.
  • the shooting range (angle of view) of the shooting unit 20 is detected by the moving amount of the zoom lens that performs the zoom function in the shooting optical system 21, and the shooting range of the shooting unit 20 is stored by the shooting range control unit 63b. Stored in the unit 85 and stored.
  • the operator W operates the ENDSW 832c to return from the shooting range setting mode to the normal mode.
  • the photographing apparatus 1B returns from the photographing range setting mode to the normal mode, and the photographing apparatus 1B operates in the normal mode.
  • a default angle of view may be used for the photographing range of the photographing unit 20, or an angle of view stored in the photographing range storage unit 85 may be used.
  • the remote operation support system S and the photographing apparatus 1B can change the photographing range of the photographing unit 20 and can adjust the resolution in the image of the subject photographed by the photographing unit 20. It becomes.
  • MODESW 832d, SETSW 832b, and ENDSW 832c of the shooting range control unit 63b and the setting operation reception unit 83B correspond to an example of a shooting range setting unit.
  • the remote work support system S is controlled to change the shooting direction of the shooting unit 20 by the driving unit 25.
  • the image in the line-of-sight direction is trimmed from the image shot by the shooting unit 20. It may be configured to obtain
  • a shooting apparatus 1C described below that is preferably used in combination with the remote support apparatus 5 is used instead of the shooting apparatus 1 in the above-described embodiment.
  • FIG. 13 is a block diagram showing the configuration of the photographing apparatus in the case where the photographing apparatus of the remote operation support system shown in FIG.
  • the photographing apparatus 1C includes an unillustrated mounting unit 10, a photographing unit 20C, an angular velocity sensor unit 30, a display unit 40, a sound input / output unit 50, and a control unit 60C. It is configured with.
  • the mounting unit 10, the angular velocity sensor unit 30, the display unit 40, and the sound input / output unit 50 are described above with reference to FIGS. 1 to 8, except that the output of the angular velocity sensor unit 30 is output to the control unit 60C. Since it is the same as the mounting unit 10, the angular velocity sensor unit 30, the display unit 40, and the sound input / output unit 50 in the photographing apparatus 1 of the embodiment, the description thereof is omitted.
  • the photographing unit 20C is a device that photographs a subject such as an external scene around a work object or a wearer (worker W in this case), for example, and is attached to the wearer (worker W).
  • the optical axis is fixed to the mounting unit 10 by a fixing means such as a screw or an adhesive so that the optical axis substantially matches the line of sight of the wearer.
  • the photographing unit 20 can photograph within the wearer's front visual field.
  • Such a photographing unit 20 ⁇ / b> C includes a photographing optical system 21, an imaging element 22, an analog front end (AFE) 23, a video control unit 24, and a housing (imaging unit main body) 27 (not shown). Is done.
  • the photographing unit 20 in the photographing apparatus 1 of the above-described embodiment described with reference to FIGS. 1 to 8 includes the drive unit 25 and the photographing direction control unit 26 and is configured so that the photographing direction can be changed.
  • the photographing unit 20C does not include such a drive unit 25 and a photographing direction control unit 26.
  • the photographing optical system 21, the image pickup device 22, the AFE 23, the image control unit 24, and the housing (shooting unit main body) 27 in the photographing unit 20C are the image pickup optical system 21, the image pickup device 22, the AFE 23, and the image control unit in the photographing unit 20, respectively. 24 and the housing (imaging unit main body) 27, the description thereof is omitted.
  • the control unit 60C is a circuit that controls the overall control of the photographing apparatus 1C, similarly to the control unit 60 described above, but includes a control unit 62C instead of the control unit 62 of the control unit 60. That is, for example, as shown in FIG. 13, the control unit 60C includes an image memory 61, a control unit 62C, a VRAM 64, a sound input processing unit 65, a sound output processing unit 66, a power switch 67, a network IF, A portion 68 and a housing 69 are provided.
  • the image memory 61, VRAM 64, sound input processing unit 65, sound output processing unit 66, power switch 67, network IF unit 68 and housing 69 in the control unit 60C are the same as the image memory 61, VRAM 64, sound input processing in the control unit 60. Since it is the same as the unit 65, the sound output processing unit 66, the power switch 67, the network IF unit 68, and the housing 69, description thereof is omitted.
  • the control unit 62C is a circuit that controls each unit of the imaging device 1C according to the function.
  • the control unit 62C can control various units such as a control program for controlling each unit of the imaging device 1C according to the function.
  • ROM Read Only Memory
  • a non-volatile storage element that stores various types of predetermined data such as data necessary for execution of a predetermined program, and predetermined arithmetic processing by reading and executing the predetermined program
  • a CPU Central Processing Unit
  • the control unit 62C may include a rewritable nonvolatile storage element such as an EEPROM (Electrically Erasable Programmable Read Only Memory).
  • the control unit 62C of the control unit 60C functionally includes a trimming unit 63c, a trimming control unit 63d, and a head angle determination unit 63e.
  • the trimming unit 63c, the trimming control unit 63d, and the head angle determination unit 63e are functionally configured in the microcomputer by executing a predetermined program.
  • the trimming unit 63c trims an image photographed by the photographing unit 20C within a predetermined trimming range.
  • the angle of view of the photographing unit 20C is preferably a relatively wide angle.
  • the trimming control unit 63d controls the trimming range trimmed by the trimming unit 63c, and the head of the worker W (wearer) detected by the angular velocity sensor unit 30 by the determination of the head angle determination unit 63e.
  • the image captured by the imaging unit 20C so that the center position of the trimming range is below the center position of the image captured by the imaging unit 20C when the downward angle of the portion is equal to or greater than a predetermined angle.
  • the trimming unit 63d is controlled so as to perform trimming.
  • the head angle determination unit 63e determines whether the downward angle of the head of the worker W with respect to the horizontal direction is equal to or greater than a predetermined angle. The determination result is notified to the trimming control unit 63d.
  • the head angle determination unit 63e continues the downward angle of the head of the worker W with respect to the horizontal direction for a predetermined time or more.
  • the trimming control unit 63d notifies the trimming control unit 63d of the determination result.
  • the trimming control unit 63d adds the determination result to the detection result detected by the angular velocity sensor unit 30. Based on this, when the downward angle of the head of the worker W with respect to the horizontal direction continues for a predetermined time or more and is 20 degrees or more, the center position of the trimming range is greater than the center position of the image captured by the image capturing unit 20C.
  • the trimming unit 63d is controlled so as to trim the image photographed by the photographing unit 20C so as to be on the lower side.
  • the predetermined time is appropriately set in advance from the viewpoint of determining whether or not the worker W is working downward, for example, 2 seconds, 3 seconds, 4 seconds, or the like.
  • FIG. 14 is a flowchart showing the operation of the photographing apparatus when the photographing apparatus of the remote operation support system shown in FIG.
  • FIG. 15 is a conceptual diagram for explaining the operation of the photographing apparatus in the case where the photographing apparatus of the remote operation support system shown in FIG.
  • FIG. 15A shows a case where the wearer is facing the front direction
  • FIG. 15B is a case where the wearer is facing the downward direction and trimming an image photographed by the photographing unit 20. The state after changing the range is shown.
  • the photographing apparatus 1C in the remote work support system S having such a configuration operates as shown in FIG. 14 with respect to an image photographed by the photographing unit 20C when the wearer (here, the worker W) faces downward. is doing. That is, in FIG. 14, when the photographing apparatus 1C is activated (step S21), initialization is performed, and the trimming control unit 63d controls the trimming unit 63c in the front mode (step S22). In this front mode, as shown in FIG. 15A, an image photographed by the photographing unit 20C in the trimming range by matching the center position of the trimming range with the center position of the image photographed by the photographing unit 20C. Is a mode for trimming.
  • the angular velocity sensor unit 30 detects the angular velocity of the head of the worker W (wearer), and the detection result is input from the angular velocity sensor unit 30 to the control unit 62C.
  • the head angle determination unit 63e of the control unit 62C integrates the angular velocity of the detection result to detect the downward angle in the head of the worker W, and the detection result is a predetermined time (for example, 3 seconds) or more. It is determined whether or not there is a state change (step S23). That is, it is determined whether or not the state of the head of the worker W has changed based on the detection result. If the result of this determination is that there is no change in state (No), processing in step S27 is executed. On the other hand, if the result of this determination is that there is a state change (Yes), the process of step S24 is executed.
  • step S24 the head angle determination unit 63e determines whether or not the detection result satisfies a predetermined condition. That is, based on the detection result, it is determined whether the head of the worker W is facing downward. More specifically, it is determined whether or not the detection result continues for a predetermined time or more and indicates a predetermined angle or more. More specifically, for example, it is determined whether or not the detection result continues for 3 seconds or more and indicates that it is 20 degrees or more downward with respect to the horizontal. As a result of this determination, if the detection result satisfies a predetermined condition (Yes), the process of step S27 is executed after the process of step S25 is executed. On the other hand, when the detection result does not satisfy the predetermined condition (No), the process of step S27 is executed after the process of step S26 is executed.
  • step S25 the trimming control unit 63d controls the trimming unit 63c in the lower mode.
  • this lower mode as shown in FIG. 15B, the image is captured by the image capturing unit 20C in the trimming range so that the center position of the trimming range is below the center position of the image captured by the image capturing unit 20C. In this mode, the trimmed image is trimmed.
  • the trimming control unit 63d controls the trimming unit 63c in the front mode.
  • step S27 an image is shot by the shooting unit 20C.
  • step S28 the trimming unit 63C trims the image shot by the shooting unit 20C. That is, when the lower mode is set in step S25 and the trimming control unit 63d is controlled in the lower mode, the trimming unit 63c determines that the center position of the trimming range is at the photographing unit as shown in FIG. The image photographed by the photographing unit 20C is trimmed within the trimming range so as to be lower than the center position of the image photographed by 20C.
  • the trimming unit 63c determines that the center position of the trimming range is the photographing unit as shown in FIG. The image photographed by the photographing unit 20C is trimmed in the trimming range so as to coincide with the center position of the image photographed by 20C.
  • step S29 the trimmed image is displayed on the display unit 40.
  • the worker W wearer
  • the video signal of the trimmed image is transmitted from the photographing apparatus 1C to the remote support apparatus 5.
  • the remote support device 5 when this video signal is received, the video based on the video signal is displayed on the display 63a.
  • the instructor A can refer to the subject in the line-of-sight direction of the worker W (wearer), and can observe the work target, for example.
  • step SS23 it is determined whether or not the control for trimming in such a line-of-sight direction is finished. If the result of this judgment is that the control is finished, the process is finished, and the control is not finished. The process returns to the process of step SS23.
  • the photographing unit 20C for photographing a subject is provided in the mounting unit 10, and when the worker W (wearer) faces downward, the photographing direction also faces downward.
  • the downward angle of the head of the worker W (wearer) with respect to the horizontal direction is detected based on the angular velocity of the head detected by the angular velocity sensor unit 30, and the detected downward angle is set in advance.
  • the angle is equal to or greater than the predetermined angle, it is determined that the worker W (wearer) is looking downward, and the trimming range is changed downward and adjusted.
  • such a remote work support system S and the photographing apparatus 1C are in a head-mounted camera, even when the worker W (wearer) faces downward, the line-of-sight direction of the worker W (wearer) For example, can be displayed on the display 63a, the display unit 40, or the like. Therefore, the driving unit 25 and the shooting direction control unit 26 for driving the shooting unit 20C are not necessary, and the shooting apparatus 1C can be configured more simply.
  • the remote operation support system S is configured so that the image capturing unit 20C is fixed and an image in the line-of-sight direction is obtained only by trimming. However, trimming is also performed while controlling the image capturing unit 20 downward.
  • the remote work support system S may be configured to obtain an image in the line-of-sight direction.
  • An imaging apparatus drives an imaging unit that is mounted on a head, an imaging unit that is provided on the mounting unit, and that captures a subject, and that changes an imaging direction of the imaging unit.
  • a drive unit, a head angle detection unit that detects a downward angle of the head relative to a horizontal direction, and a downward angle of the head detected by the head angle detection unit is a predetermined angle or more
  • a shooting direction control unit that changes the shooting direction of the shooting unit downward by the driving unit.
  • a photographing unit for photographing a subject is provided in the mounting unit, and when the wearer faces down, the photographing direction also faces down.
  • the head angle detection unit detects the downward angle of the head of the wearer with respect to the horizontal direction, and when the detected downward angle is equal to or greater than a predetermined angle, the wearer It is determined that the camera is looking downward, and the driving unit drives the photographing unit, and the photographing direction of the photographing unit is changed downward and adjusted. For this reason, in this head-mounted camera, even when the wearer faces downward, the photographing apparatus can substantially direct the photographing direction of the camera to the wearer's line of sight.
  • the predetermined angle is 20 degrees.
  • the worker when working in a downward direction such as a desk work, the worker (wearer) generally has a variation of about 30 degrees, although there are variations due to individual differences when the horizontal direction is set to 0 degrees (reference). Tilt its head down. Therefore, in the imaging apparatus having the above-described configuration, the predetermined angle is 20 with a margin of 10 degrees in consideration of variations in individual differences, elements actually used in the imaging apparatus, manufacturing variations in the imaging apparatus itself, and the like. Therefore, it is possible to determine that the wearer is working in a downward direction more appropriately, and it is possible to make the shooting direction of the camera substantially in the direction of the wearer's line of sight.
  • the imaging direction control unit maintains the downward angle of the head detected by the head angle detection unit for a predetermined time or more.
  • the driving unit changes the shooting direction of the shooting unit.
  • the imaging apparatus having the above configuration, when the downward angle of the head continues for a predetermined time or more and is equal to or greater than the predetermined angle, the imaging direction of the imaging unit is changed.
  • the wearer lowers his / her head for a short time for some reason, it is possible to prevent the photographing direction of the photographing unit from being frequently changed without changing the photographing direction of the photographing unit.
  • the imaging direction of the imaging unit is changed by the imaging direction control unit so that the imaging direction of the imaging unit becomes a horizontal direction. Is provided at the mounting portion, the angle is 25 to 35 degrees downward.
  • the worker when working in a downward direction such as a desk work, the worker (wearer) generally has a variation of about 25 degrees due to individual differences when the horizontal direction is set to 0 degrees (reference). In the range of about 35 degrees, the line-of-sight direction is tilted further downward from the head tilt. Therefore, in the imaging apparatus having the above-described configuration, the change angle of the imaging direction of the imaging unit is reduced downward by taking into account variations in individual differences, elements actually used in the imaging apparatus, manufacturing variations in the imaging apparatus itself, and the like. Since the angle is set from 25 degrees to 35 degrees, when the wearer is working downward, the shooting direction of the camera can be more appropriately directed toward the wearer's line of sight.
  • the above-described imaging apparatus preferably further includes a change angle setting unit that sets an angle for changing the imaging direction of the imaging unit.
  • the operator's line-of-sight direction varies when the work is directed downward. Since the imaging apparatus having the above-described configuration further includes the change angle setting unit, it is possible to cope with such variations due to individual differences. For example, the imaging direction of the imaging unit is adjusted in accordance with a worker's body shape, work state, or the like. can do.
  • the above-described photographing apparatus preferably further includes a photographing range setting unit that sets a photographing range photographed by the photographing unit.
  • the photographing apparatus having the above-described configuration further includes the photographing range setting unit, it is possible to adjust the resolution of the subject image photographed by the photographing unit in accordance with the size (size) of the subject.
  • An imaging apparatus includes a mounting unit to be mounted on a head, a shooting unit for shooting a subject provided in the mounting unit, and an image shot by the shooting unit within a predetermined trimming range.
  • a trimming unit for trimming, a head angle detection unit for detecting a downward angle of the head with respect to a horizontal direction, and a downward angle of the head detected by the head angle detection unit is a predetermined angle or more
  • a trimming control unit that trims an image captured by the imaging unit by the trimming unit so that a center position of the trimming range is below a center position of an image captured by the imaging unit.
  • a photographing unit for photographing a subject is provided in the mounting unit, and when the wearer faces down, the photographing direction also faces down.
  • the head angle detection unit detects the downward angle of the head of the wearer with respect to the horizontal direction, and when the detected downward angle is equal to or greater than a predetermined angle, the wearer It is determined that the user is looking down, and the trimming range is changed downward and adjusted.
  • this imaging device can obtain an image in the line of sight of the wearer even when the wearer faces down in a head-mounted camera, and can display it on a display device, for example. It becomes. Therefore, a driving unit for driving the photographing unit is not necessary, and the photographing apparatus can be configured more simply.
  • the remote operation support system is a remote operation support system including an imaging device and a remote operation support device that is communicably connected to the imaging device via a communication network.
  • the apparatus is any one of the above-described imaging apparatuses, and the remote work support apparatus displays a video of a subject received by the imaging unit of the imaging apparatus received via the communication network, and An instruction receiving unit that receives an instruction from the instructor and transmits the instruction to the photographing apparatus via the communication network.
  • the remote operation support system having such a configuration uses any of the above-described imaging apparatuses, even when the wearer faces down, the camera's imaging direction in the imaging apparatus can be substantially directed toward the wearer's line of sight. It becomes possible.
  • the remote work support system may further include the change angle setting unit in the imaging device, and the change angle setting unit may be provided as the remote support device. You may prepare further.
  • the remote operation support system can obtain the same operational effects as described above, and in the case where the remote angle support device is further provided with the change angle setting unit, the instructor instructs In order to facilitate, for example, the photographing direction of the photographing unit can be adjusted in accordance with variations due to individual differences, the body shape of the worker, the working state, and the like.
  • the remote work support system may further include the shooting range setting unit in the shooting device, and the shooting range setting unit may be provided as the remote support device. You may prepare further.
  • the photographing apparatus further includes the photographing range setting unit
  • the remote operation support system can obtain the same operational effects as described above.
  • the photographing range setting unit is further provided in the remote support device, the instructor instructs In order to facilitate, it is possible to adjust the resolution in the video of the subject photographed by the photographing unit.
  • a photographing apparatus including a camera mounted on the head and a remote work support system using the photographing apparatus.

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  • Signal Processing (AREA)
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Abstract

L'invention concerne un dispositif d'imagerie (1) et un système de soutien d'opérations à distance (S), permettant de détecter l'angle d'une tête orientée vers le bas par rapport à une direction horizontale et, dans les cas où l'angle de tête détecté correspond à un angle prédéterminé ou supérieur, à ajuster vers le bas une image représentée par une unité d'imagerie, de sorte à obtenir une image orientée vers le bas. Ainsi, le dispositif d'imagerie (1) et le système de soutien d'opérations à distance (S) selon l'invention permettent d'obtenir une image dans la direction du regard d'un utilisateur portant une caméra montée sur la tête, même lorsque l'utilisateur regarde vers le bas.
PCT/JP2010/006333 2009-11-11 2010-10-26 Dispositif d'imagerie et système de soutien d'opérations à distance WO2011058707A1 (fr)

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Publication number Priority date Publication date Assignee Title
JP2016163136A (ja) * 2015-02-27 2016-09-05 セイコーエプソン株式会社 表示装置、及び、表示装置の制御方法
JP2016206374A (ja) * 2015-04-21 2016-12-08 セイコーエプソン株式会社 表示装置、表示装置の制御方法、及び、プログラム
US10306217B2 (en) 2015-04-17 2019-05-28 Seiko Epson Corporation Display device, control method for display device, and computer program
CN112188152A (zh) * 2019-07-01 2021-01-05 株式会社日立制作所 远程作业支援系统
JP7494000B2 (ja) 2020-05-11 2024-06-03 株式会社日立製作所 作業者端末、作業支援システム

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JP2000101898A (ja) * 1998-09-21 2000-04-07 Fuji Photo Film Co Ltd 電子カメラ
JP2006208451A (ja) * 2005-01-25 2006-08-10 Konica Minolta Photo Imaging Inc 映像表示装置
JP2009159109A (ja) * 2007-12-25 2009-07-16 Sony Corp 自動撮像装置及び自動撮像方法
JP2009200691A (ja) * 2008-02-20 2009-09-03 Konica Minolta Holdings Inc 頭部装着式映像表示装置

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Publication number Priority date Publication date Assignee Title
JPH07209700A (ja) * 1994-01-18 1995-08-11 Canon Inc 光学機器の立体リンク機構
JP2000101898A (ja) * 1998-09-21 2000-04-07 Fuji Photo Film Co Ltd 電子カメラ
JP2006208451A (ja) * 2005-01-25 2006-08-10 Konica Minolta Photo Imaging Inc 映像表示装置
JP2009159109A (ja) * 2007-12-25 2009-07-16 Sony Corp 自動撮像装置及び自動撮像方法
JP2009200691A (ja) * 2008-02-20 2009-09-03 Konica Minolta Holdings Inc 頭部装着式映像表示装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016163136A (ja) * 2015-02-27 2016-09-05 セイコーエプソン株式会社 表示装置、及び、表示装置の制御方法
US10306217B2 (en) 2015-04-17 2019-05-28 Seiko Epson Corporation Display device, control method for display device, and computer program
JP2016206374A (ja) * 2015-04-21 2016-12-08 セイコーエプソン株式会社 表示装置、表示装置の制御方法、及び、プログラム
CN112188152A (zh) * 2019-07-01 2021-01-05 株式会社日立制作所 远程作业支援系统
JP7494000B2 (ja) 2020-05-11 2024-06-03 株式会社日立製作所 作業者端末、作業支援システム

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