WO2018110501A1 - Imaging controller, mobile entity, imaging control method, and nonvolatile computer-readable data recording medium in which imaging control program is stored - Google Patents

Imaging controller, mobile entity, imaging control method, and nonvolatile computer-readable data recording medium in which imaging control program is stored Download PDF

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Publication number
WO2018110501A1
WO2018110501A1 PCT/JP2017/044383 JP2017044383W WO2018110501A1 WO 2018110501 A1 WO2018110501 A1 WO 2018110501A1 JP 2017044383 W JP2017044383 W JP 2017044383W WO 2018110501 A1 WO2018110501 A1 WO 2018110501A1
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Prior art keywords
unit
moving body
image
imaging control
correction
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PCT/JP2017/044383
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French (fr)
Japanese (ja)
Inventor
大平　雅和
小林　節也
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シャープ株式会社
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Publication of WO2018110501A1 publication Critical patent/WO2018110501A1/en

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment

Definitions

  • the present invention relates to a photographing control device for photographing an image around a mounted device, a moving body, a photographing control method, and a nonvolatile computer-readable data recording medium storing a photographing control program.
  • a mobile object that autonomously travels on a road surface is equipped with a camera that captures surrounding images, and is used for monitoring a wide range on behalf of a user.
  • a moving body is equipped with, for example, a PTZ (Pan Tilt Zoom) camera, and automatically travels on a preset route and changes the direction of the camera to a preset direction to perform shooting.
  • PTZ Pan Tilt Zoom
  • an imaging apparatus that changes its direction by turning or the like, the position may be shifted due to vibration, wind, or the like, and therefore means for correcting a positional shift is incorporated (for example, see Patent Document 1). .
  • the imaging device unit described in Patent Document 1 includes a turning unit that turns an imaging device including an imaging unit and a position sensor, and picks up an image of a subject located in a desired direction in an arbitrary order set by the user. It has an auto preset mode that switches. Then, during a mode process such as auto preset mode, a predetermined time is measured, and when the predetermined time elapses, it is automatically determined whether or not a positional deviation has occurred. Performs the initial operation to correct the positional deviation.
  • a mode process such as auto preset mode
  • the above-described imaging device unit is mounted on a moving body or the like, and it is not assumed that the operation of the moving body is associated with the initial operation.
  • the present invention has been made to solve the above-described problems, and relates to an imaging control apparatus and a mobile body that can reliably perform image capturing by automatic operation by associating an operation of the mobile body with a correction process.
  • Another object of the present invention is to provide a non-volatile computer-readable data recording medium storing a photographing control method and a photographing control program.
  • An imaging control apparatus includes an image capturing unit that captures an image around a mounted device, a direction changing unit that drives the image capturing unit to change the orientation, and the orientation of the image capturing unit.
  • An imaging control apparatus comprising: a direction correction unit that corrects a preset reference direction; and a correction instruction unit that instructs execution of a direction correction process by the direction correction unit at a preset timing,
  • the image photographing unit is mounted on a moving body that travels on a road surface, and the correction instruction unit performs the direction correction processing according to the timing at which the moving body stops or slows down from the traveling state, and the direction
  • the changing unit changes the direction of the image photographing unit to a photographing direction for photographing after the direction correction processing.
  • the correction instruction unit may be configured to perform the direction correction process in a state where the moving body is stopped.
  • the correction instruction unit may be configured to perform the direction correction process before the moving body approaches the stop position instructed in advance and stops.
  • the correction instruction unit may determine that the moving body has approached the stop position based on the fact that the moving body has decelerated near the stop position.
  • the correction instructing unit travels the mobile object over a predetermined distance.
  • the direction correction process may be performed.
  • the imaging control apparatus includes an acceleration sensor that detects the vibration of the moving body, and when the mobile body travels after the direction correction process and takes an image, the correction instruction unit includes the acceleration sensor. It is good also as a structure which performs the said direction correction process based on the detection result of a sensor.
  • the imaging control apparatus includes a map storage unit that stores a travel map in which a route traveled by the moving body is set in advance, and the travel map includes a point where the direction correction processing is performed in advance.
  • the correction instruction unit may be configured to perform the direction correction process based on the travel map.
  • the moving body is set in advance to a stop location where the moving body stops and the image photographing unit captures an image, and the timing for instructing the execution of the direction correction processing is It is good also as a structure made into when it arrives at the said stop place.
  • the moving body according to the present invention includes the imaging control device according to the present invention.
  • An image capturing control method includes an image capturing step that causes an image capturing unit to capture an image around a mounted device, and a direction change that causes the direction changing unit to change the direction by driving the image capturing unit.
  • the image capturing unit is mounted on a moving body traveling on a road surface, and the correction instructing unit is in a state where the moving body is traveling.
  • the direction correction process is performed according to the timing of stopping or slowing down, and the direction changing unit changes the direction of the image shooting unit to a shooting direction for shooting after the direction correction process. And characterized in that.
  • a non-volatile computer-readable data recording medium storing a shooting control program according to the present invention is characterized by causing a computer to execute each step of the shooting control method according to the present invention.
  • the direction correction processing is performed in advance and then the shooting direction is changed, it is possible to reliably take an image by automatic operation.
  • FIG. 1 is a schematic configuration diagram illustrating a schematic configuration of a photographing control apparatus according to a first embodiment of the present invention. It is a schematic block diagram which shows schematic structure of the monitoring system using the imaging
  • FIG. 1 is a schematic side view of a moving body according to an embodiment of the present invention.
  • the moving body 1 is a four-wheeled vehicle that moves on the road surface 100 along a preset route.
  • the moving body 1 usually moves straight toward the front surface (rightward in FIG. 1) and changes the traveling direction as appropriate.
  • a wheel 3, an image capturing unit 4, and an arm unit 6 are attached to the vehicle body 2 of the moving body 1.
  • the wheel 3 is connected to a drive source such as a motor housed inside the vehicle body 2, and the vehicle 1 travels by driving the wheel 3.
  • a drive source such as a motor housed inside the vehicle body 2, and the vehicle 1 travels by driving the wheel 3.
  • four wheels 3 are provided, but the present invention is not limited to this, and the number of wheels 3 may be changed or a belt or the like may be used. It is only necessary that the traveling speed can be adjusted appropriately.
  • the arm portion 6 is attached to the upper surface of the vehicle body 2, and the arm portion 6 is a long member having the image photographing portion 4 at the other end.
  • the arm portion 6 is configured to rotate from an attachment position to the vehicle body 2, and the monitoring device provided at the other end can be moved in the vertical direction by rotating.
  • the arm unit 6 may be provided with not only the image capturing unit 4 but also a sensor for detecting an object.
  • the image photographing unit 4 is a PTZ camera, and is controlled by a photographing control device 10 to be described later, and photographs an image and a video around the moving body 1.
  • the structure of the image photographing unit 4 will be described in detail with reference to FIG.
  • FIG. 2 is a schematic configuration diagram showing a schematic configuration of the imaging control apparatus according to the first embodiment of the present invention.
  • the imaging control device 10 includes an image capturing unit 4, a direction changing unit 11, a direction correcting unit 12, a correction instruction unit 13, an acceleration sensor 14, and a map storage unit 15. Yes.
  • the direction changing unit 11 drives the image photographing unit 4 to change the direction.
  • the direction correction unit 12 corrects the orientation of the image photographing unit 4 to a preset reference direction.
  • the correction instruction unit 13 instructs execution of the direction correction process by the direction correction unit 12 at a preset timing. A method for driving and correcting the image photographing unit 4 will be described in detail with reference to FIG. 4 described later.
  • the acceleration sensor 14 is a sensor that detects the vibration of the moving body 1. Specifically, the acceleration sensor 14 detects vibration applied to the moving body 1 by detecting acceleration in a three-dimensional direction.
  • the map storage unit 15 stores a travel map in which a route on which the moving body 1 travels is set in advance. And the mobile body 1 drive
  • the user can set a shooting point at which an image is shot.
  • the image photographing unit 4 may photograph the entire circumference of the moving body 1 at a photographing point, or may photograph a preset direction.
  • the importance can be set for each photographing point, and the number of images, the time for photographing, and the like may be varied depending on the importance.
  • the moving body 1 is appropriately provided with a method of grasping the current position, and may be determined based on the travel map from, for example, the travel time, speed, and direction. Moreover, it is good also as a structure which communicates using GPS etc.
  • FIG. 3 is a schematic configuration diagram showing a schematic configuration of a monitoring system using the imaging control apparatus according to the first embodiment of the present invention.
  • the above-described imaging control device 10 is applied to a monitoring system that monitors the periphery using a plurality of moving bodies 1.
  • the monitoring system (imaging control system) includes a monitoring device 20 and a plurality of moving bodies 1 connected through a network NW. That is, an image photographed by the moving body 1 is transmitted to the monitoring device 20 and displayed on the display of the monitoring device 20 or stored in a storage medium of the monitoring device 20.
  • this invention is not limited to this, It may be comprised only in any one among the mobile body 1 and the monitoring apparatus 20, and the image imaging
  • FIG. In the case where only the moving body 1 is used, the image capturing unit 4 may be controlled by the moving body 1, and an image may be transmitted to the outside or an image may be accumulated.
  • the direction correcting unit 12 and the correction instructing unit 13 described above are stored in a flash memory, a hard disk, or other non-volatile data recording medium (not shown) as a program previously incorporated in a CPU (not shown), and execute the stored program. Thus, the processing described later is executed.
  • the CPU that stores the direction correction unit 12 and the correction instruction unit 13 may be provided in either or both of the moving body 1 and the monitoring device 20 according to the configuration of the imaging control system.
  • FIG. 4 is an enlarged perspective view showing the image photographing unit.
  • a horizontal turning unit 4b is mounted on an installation base 4a installed on the arm unit 6, and the vertical turning unit 4c is supported by the horizontal turning unit 4b.
  • a lens portion 4d is provided for photographing.
  • the horizontal turning unit 4b and the vertical turning unit 4c are driven by a motor or the like, and the image photographing unit 4 photographs an image in the photographing direction to which the lens unit 4d is directed.
  • the installation base 4a is provided with an upper surface facing the bottom surface attached to the arm portion 6, and a horizontal turning portion 4b is attached to the center of the upper surface.
  • the horizontal turning portion 4b is supported so as to rotate around the axis of the vertical rotation axis with respect to the upper surface of the installation base 4a (the horizontal turning direction P in FIG. 4), and the turning range is 360 degrees. ing. That is, the lateral turning part 4b is configured to face the entire circumference with respect to the installation base 4a.
  • the vertical turning portion 4c has a substantially cylindrical shape, and a lens portion 4d is provided on a side surface. And the vertical turning part 4c is supported by the horizontal turning part 4b so as to rotate around the axis of the rotation axis parallel to the upper surface of the installation base 4a (vertical turning direction T in FIG. 4).
  • the turning range is 180 degrees. That is, the vertical turning portion 4c is configured such that the lens portion 4d can be directed to the upper half circumference of the installation base 4a.
  • the image photographing unit 4 can photograph the lens unit 4d in the direction specified by the direction changing unit 11 by combining the turning of the horizontal turning unit 4b and the vertical turning unit 4c.
  • the horizontal turning unit 4b and the vertical turning unit 4c are provided with position sensors, and by detecting the position sensors, it is possible to grasp which direction each is facing, based on the position sensors.
  • the reference direction is set.
  • the horizontal turning unit 4b and the vertical turning unit 4c are turned to detect the position sensor, thereby correcting the orientation so that the image photographing unit 4 faces the reference direction.
  • the direction changing unit 11 is instructed to change the orientation of the image capturing unit 4, it is preferable to control the direction so as not to pass the position sensor.
  • the direction correction process is performed other than when instructed by the correction instruction unit 13. Specifically, the direction correction process is also performed when the horizontal turning unit 4b and the vertical turning unit 4c are turned and a position sensor is detected. For this reason, when the orientation of the image capturing unit 4 is shifted due to vibration or the like, when the direction changing unit 11 is instructed to change the orientation of the image capturing unit 4, the position sensor may pass unintentionally. It was. As a result of performing the direction correction processing, the operation of changing the orientation of the image photographing unit 4 is canceled, and photographing by automatic operation may not be executed correctly.
  • FIG. 5 is a flowchart showing a process flow of the direction correction process 1 in the photographing control apparatus according to the first embodiment of the present invention.
  • the moving body 1 is traveling on the route according to the travel map.
  • step S01 the moving body 1 stops.
  • the timing of stopping from the state in which the moving body 1 is traveling may include not only the time when the shooting point of the travel map is reached, but also the time when the obstacle is detected and stopped.
  • the mobile body 1 may be in a state in which the mobile body 1 does not stop completely but can be stopped slowly and stopped immediately.
  • step S02 the correction instruction unit 13 performs a direction correction process. As a result of the direction correction processing performed by the direction correction unit 12, the orientation of the image capturing unit 4 is corrected.
  • step S03 the direction changing unit 11 changes the orientation of the image capturing unit 4.
  • step S04 the image capturing unit 4 captures an image, and the process ends. After the process is completed, the moving body 1 may be run again, or may wait until a new instruction is given. Further, when images of a plurality of directions are taken when the moving body 1 is stopped, the process may be terminated after repeating Step S03 and Step S04.
  • the correction instruction unit 13 performs the direction correction process according to the timing at which the moving body 1 stops, and the direction changing unit 11 captures the direction of the image capturing unit 4 after the direction correction process. Change the shooting direction. Further, the correction instruction unit 13 causes the direction correction process to be performed in a state where the moving body 1 is stopped. Accordingly, since the moving body 1 is stopped during the direction correction process, it is possible to avoid the orientation of the image capturing unit 4 from being shifted due to vibration caused by traveling.
  • the image shooting unit 4 causes the image shooting unit 4 to take an image around the mounted device, and the direction changing unit 11 drives the image shooting unit 4 to change the orientation.
  • the direction correction step the direction correction unit 12 causes the direction of the image capturing unit 4 to correct the direction of the image photographing unit 4 in a preset reference direction, and the correction instruction unit 13 sets the direction correction unit 12 at a preset timing.
  • the image photographing unit 4 is mounted on the moving body 1 that travels on the road surface.
  • the correction instruction unit 13 causes the direction correction process to be performed according to the timing when the moving body 1 stops.
  • the direction changing unit 11 changes the direction of the image photographing unit 4 to the photographing direction for photographing after the direction correction processing.
  • the correction instruction unit 13 is configured to perform the direction correction process based on the travel map. Therefore, the accuracy of the image can be ensured by performing the direction correction process at the point where the image should be taken with priority, regardless of the state of the moving body 1.
  • a stop location where the moving body 1 stops and causes the image capturing unit 4 to capture an image may be set in advance.
  • the timing at which the correction instruction unit 13 supports the execution of the direction correction process is when the moving body 1 reaches the stop location.
  • an image is shot immediately after the direction correction process.
  • the mobile body 1 may travel.
  • the allowable range is a distance (for example, about several meters) that does not cause the image capturing unit 4 to be displaced by the traveling of the moving body 1.
  • FIG. 6 is a flowchart showing a process flow of the direction correction process 2 in the photographing control apparatus according to the second embodiment of the present invention.
  • the second embodiment is different from the first embodiment in the content of the direction correction process, and the specific configuration of the imaging control device 10 is shown in FIGS. 1 to 4 in the first embodiment. The description is omitted because it is substantially the same.
  • the moving body 1 is traveling on a route according to the travel map.
  • step S11 the correction instruction unit 13 determines whether the moving body 1 has approached the stop position. Specifically, the determination is made by comparing the current position of the moving body 1 and the travel map, and in this embodiment, the moving body 1 approaches the stop position 10 seconds before the time it reaches the stop position. Judge that As a result, when the moving body 1 approaches the stop position (step S11: Yes), the process proceeds to step S12. On the other hand, when the mobile body 1 is not approaching the stop position (step S11: No), the process waits until the mobile body 1 approaches the stop position, and the mobile body 1 is caused to travel.
  • the correction instruction unit 13 may determine that the mobile body 1 has approached the stop position based on the fact that the mobile body 1 has decelerated near the stop position. Therefore, since the direction correction process is performed after the moving body 1 decelerates, the influence of vibration due to traveling can be suppressed.
  • step S12 the correction instruction unit 13 performs a direction correction process. And in step S13, the mobile body 1 stops. That is, the correction instruction unit 13 performs the direction correction process after the moving body 1 approaches the stop position specified in advance until it stops. Therefore, by performing the direction correction process in accordance with the stop of the moving body 1, the standby time can be shortened and an image can be taken quickly.
  • step S14 and step S15 are the same as that in step S03 and step S04 described above, description thereof will be omitted.
  • step S15 as in the first embodiment, the process may be terminated and the moving body 1 may be run again, or may wait until a new instruction is given.
  • FIG. 7 is a flowchart showing a processing flow of post-travel correction processing in the imaging control apparatus according to the third embodiment of the present invention.
  • the direction correction process (direction correction process 1 or direction correction process 2), it is determined whether or not to perform the direction correction process after the mobile body 1 has traveled.
  • the specific configuration of the imaging control device 10 is substantially the same as that of the first embodiment and the second embodiment shown in FIGS.
  • step S21 the direction correction process 1 or the direction correction process 2 is performed. That is, the moving body 1 is in a stopped state after the direction correction process is performed and an image is taken.
  • step S22 the moving body 1 travels.
  • the moving body 1 measures the distance traveled from the stopped position.
  • step S23 when an instruction to capture an image is given, the correction instruction unit 13 determines whether or not the travel distance of the moving body 1 exceeds a preset specified distance. As a result, when the travel distance exceeds the specified distance (step S23: Yes), the process proceeds to step S26. On the other hand, when the travel distance does not exceed the specified distance (step S23: No), the process proceeds to step S24.
  • the specified distance may be set as appropriate, for example, about several meters.
  • step S24 and step S25 Since the processing in step S24 and step S25 is the same as that in step S03 and step S04 described above, description thereof will be omitted.
  • step S26 the direction correction process 1 or the direction correction process 2 is performed. That is, when the moving body 1 travels more than a specified distance when an image is taken after the moving body 1 travels after the direction correction processing, the direction correction processing is performed.
  • step S25 and step S26 the process is terminated in the same manner as in the first and second embodiments.
  • the direction correction process it is determined whether or not to perform the direction correction process according to the travel distance. Therefore, when the moving body 1 moves a long distance and there is a concern about the deviation of the image capturing unit 4, the direction correction process is performed. When the influence of the deviation due to the traveling of the moving body 1 is small, the direction correction process is performed. Is omitted. Thus, by determining the presence or absence of the direction correction process according to the moving distance of the moving body 1, the direction correction process can be performed at an appropriate opportunity.
  • the determination is made based on the travel distance in step S23, but the determination is not limited to this, and the determination may be made based on the detection result of the acceleration sensor. Therefore, when the mobile body 1 travels after the direction correction process and takes an image, the correction instruction unit 13 performs the direction correction process based on the detection result of the acceleration sensor. Thus, by determining the presence or absence of the direction correction process according to the vibration state of the moving body 1, the direction correction process can be performed at an appropriate opportunity.
  • the acceleration sensor 14 preferably outputs the detected acceleration integrated value as a detection result. That is, it is possible to take into account the deviation of the image capturing unit 4 when traveling a long distance by reflecting the result of the continuous small vibration instead of making a determination based on the instantaneous large vibration.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

An imaging controller (10) is provided with an image capturing unit (4) for capturing an image of the surroundings of an onboard apparatus, a direction change unit (11) for driving the image capturing unit (4) to change the direction, a direction correction unit (12) for correcting the direction of the image capturing unit (4) to a preset reference direction, and a correction indication unit (13) for indicating, at preset timing, that a direction change process by the direction correction unit (12) be executed. The image capturing unit (4) is mounted in a mobile entity that travels a road surface. The correction indication unit (13) causes the direction correction process to be executed in accordance with timing at which the mobile entity stops. The direction change unit (11) causes the direction of the image capturing unit (4) to be changed to a direction in which to capture an image after the direction correction process.

Description

撮影制御装置、移動体、撮影制御方法、および撮影制御プログラムを格納した不揮発性のコンピュータ読み取り可能なデータ記録媒体Imaging control device, moving body, imaging control method, and nonvolatile computer-readable data recording medium storing imaging control program
　本発明は、搭載された機器の周囲の画像を撮影する撮影制御装置、移動体、撮影制御方法、および撮影制御プログラムを格納した不揮発性のコンピュータ読み取り可能なデータ記録媒体に関する。 The present invention relates to a photographing control device for photographing an image around a mounted device, a moving body, a photographing control method, and a nonvolatile computer-readable data recording medium storing a photographing control program.
　近年、路面を自律走行する移動体は、周囲の画像を撮影するカメラを搭載することで、ユーザに代わって広範囲を監視する用途に用いられている。このような移動体には、例えば、ＰＴＺ（Ｐａｎ　Ｔｉｌｔ　Ｚｏｏｍ）カメラなどが搭載され、予め設定された経路を自動で走行し、事前に設定された方向にカメラの向きを変えて撮影を行う。旋回などして向きを変える撮像装置（カメラ）では、振動や風などによって、位置がずれてしまう場合があるので、位置ズレを補正する手段が取り入れられている（例えば、特許文献１参照。）。 In recent years, a mobile object that autonomously travels on a road surface is equipped with a camera that captures surrounding images, and is used for monitoring a wide range on behalf of a user. Such a moving body is equipped with, for example, a PTZ (Pan Tilt Zoom) camera, and automatically travels on a preset route and changes the direction of the camera to a preset direction to perform shooting. In an imaging apparatus (camera) that changes its direction by turning or the like, the position may be shifted due to vibration, wind, or the like, and therefore means for correcting a positional shift is incorporated (for example, see Patent Document 1). .
特開２０１１－４９９６７号公報JP 2011-49967 A
　特許文献１に記載の撮像装置ユニットは、撮像手段および位置センサを備えた撮像装置を旋回動作させる旋回手段を備え、ユーザが設定した任意の順番で、所望の方向に位置する被写体を撮像して切り換えていくオートプリセットモードを搭載している。そして、オートプリセットモードなどのモード処理中において、所定時間を計測し、所定時間が経過すると、位置ズレが発生しているか否かを、自動的に判別し、位置ズレが発生している場合には、イニシャル動作を実行して、位置ズレを補正している。 The imaging device unit described in Patent Document 1 includes a turning unit that turns an imaging device including an imaging unit and a position sensor, and picks up an image of a subject located in a desired direction in an arbitrary order set by the user. It has an auto preset mode that switches. Then, during a mode process such as auto preset mode, a predetermined time is measured, and when the predetermined time elapses, it is automatically determined whether or not a positional deviation has occurred. Performs the initial operation to correct the positional deviation.
　ところで、上述した撮像装置ユニットは、移動体などに搭載することが考慮されておらず、移動体の動作とイニシャル動作とを関連付けることは想定されていない。 Incidentally, it is not considered that the above-described imaging device unit is mounted on a moving body or the like, and it is not assumed that the operation of the moving body is associated with the initial operation.
　本発明は、上記の課題を解決するためになされたものであり、移動体の動作と補正処理とを関連付けて、確実に自動操作による画像の撮影を実施することができる撮影制御装置、移動体、撮影制御方法、および撮影制御プログラムを格納した不揮発性のコンピュータ読み取り可能なデータ記録媒体を提供することを目的とする。 The present invention has been made to solve the above-described problems, and relates to an imaging control apparatus and a mobile body that can reliably perform image capturing by automatic operation by associating an operation of the mobile body with a correction process. Another object of the present invention is to provide a non-volatile computer-readable data recording medium storing a photographing control method and a photographing control program.
　本発明に係る撮影制御装置は、搭載された機器の周囲の画像を撮影する画像撮影部と、前記画像撮影部を駆動して、向きを変更させる方向変更部と、前記画像撮影部の向きを、予め設定された基準方向へ補正する方向補正部と、予め設定されたタイミングにおいて、前記方向補正部による方向補正処理の実施を指示する補正指示部とを備えた撮影制御装置であって、前記画像撮影部は、路面を走行する移動体に搭載され、前記補正指示部は、前記移動体が走行している状態から停止または徐行するタイミングに応じて、前記方向補正処理を実施させ、前記方向変更部は、前記方向補正処理の後に、前記画像撮影部の向きを撮影する撮影方向に変更させることを特徴とする。 An imaging control apparatus according to the present invention includes an image capturing unit that captures an image around a mounted device, a direction changing unit that drives the image capturing unit to change the orientation, and the orientation of the image capturing unit. An imaging control apparatus comprising: a direction correction unit that corrects a preset reference direction; and a correction instruction unit that instructs execution of a direction correction process by the direction correction unit at a preset timing, The image photographing unit is mounted on a moving body that travels on a road surface, and the correction instruction unit performs the direction correction processing according to the timing at which the moving body stops or slows down from the traveling state, and the direction The changing unit changes the direction of the image photographing unit to a photographing direction for photographing after the direction correction processing.
　本発明に係る撮影制御装置では、前記補正指示部は、前記移動体が停止した状態で、前記方向補正処理を実施させる構成としてもよい。 In the imaging control apparatus according to the present invention, the correction instruction unit may be configured to perform the direction correction process in a state where the moving body is stopped.
　本発明に係る撮影制御装置では、前記補正指示部は、前記移動体が予め指示された停止位置に近づいてから停止するまでの間に、前記方向補正処理を実施させる構成としてもよい。 In the photographing control apparatus according to the present invention, the correction instruction unit may be configured to perform the direction correction process before the moving body approaches the stop position instructed in advance and stops.
　本発明に係る撮影制御装置では、前記補正指示部は、前記移動体が前記停止位置近傍で減速したことに基づいて、前記移動体が停止位置に近づいたと判断する構成としてもよい。 In the photographing control apparatus according to the present invention, the correction instruction unit may determine that the moving body has approached the stop position based on the fact that the moving body has decelerated near the stop position.
　本発明に係る撮影制御装置では、前記方向補正処理の後に前記移動体が走行してから画像を撮影する際、前記補正指示部は、前記移動体が予め設定された規定距離以上走行している場合に、前記方向補正処理を実施させる構成としてもよい。 In the imaging control apparatus according to the present invention, when the mobile object travels after the direction correction process and the image is taken, the correction instructing unit travels the mobile object over a predetermined distance. In this case, the direction correction process may be performed.
　本発明に係る撮影制御装置では、前記移動体の振動を検知する加速度センサを備え、前記方向補正処理の後に前記移動体が走行してから画像を撮影する際、前記補正指示部は、前記加速度センサの検知結果に基づいて、前記方向補正処理を実施させる構成としてもよい。 The imaging control apparatus according to the present invention includes an acceleration sensor that detects the vibration of the moving body, and when the mobile body travels after the direction correction process and takes an image, the correction instruction unit includes the acceleration sensor. It is good also as a structure which performs the said direction correction process based on the detection result of a sensor.
　本発明に係る撮影制御装置では、前記移動体が走行する経路を予め設定した走行マップを記憶するマップ記憶部を備え、前記走行マップには、前記方向補正処理を実施させる地点が予め設定され、前記補正指示部は、前記走行マップに基づいて、前記方向補正処理を実施させる構成としてもよい。 The imaging control apparatus according to the present invention includes a map storage unit that stores a travel map in which a route traveled by the moving body is set in advance, and the travel map includes a point where the direction correction processing is performed in advance. The correction instruction unit may be configured to perform the direction correction process based on the travel map.
　本発明に係る撮影制御装置では、前記移動体は、停止して前記画像撮影部に画像を撮影させる停止場所が予め設定されており、前記方向補正処理の実施を指示するタイミングは、前記移動体が前記停止場所に到達した際とされている構成としてもよい。 In the photographing control apparatus according to the present invention, the moving body is set in advance to a stop location where the moving body stops and the image photographing unit captures an image, and the timing for instructing the execution of the direction correction processing is It is good also as a structure made into when it arrives at the said stop place.
　本発明に係る移動体は、本発明に係る撮影制御装置を備えることを特徴とする。 The moving body according to the present invention includes the imaging control device according to the present invention.
　本発明に係る撮影制御方法は、画像撮影部に、搭載された機器の周囲の画像を撮影させる画像撮影ステップと、方向変更部に、前記画像撮影部を駆動して、向きを変更させる方向変更ステップと、方向補正部に、前記画像撮影部の向きを、予め設定された基準方向へ補正させる方向補正ステップと、補正指示部に、予め設定されたタイミングにおいて、前記方向補正部による方向補正処理の実施を指示させる補正指示ステップとを含む撮影制御方法であって、前記画像撮影部は、路面を走行する移動体に搭載され、前記補正指示部は、前記移動体が走行している状態から停止または徐行するタイミングに応じて、前記方向補正処理を実施させ、前記方向変更部は、前記方向補正処理の後に、前記画像撮影部の向きを撮影する撮影方向に変更させることを特徴とする。 An image capturing control method according to the present invention includes an image capturing step that causes an image capturing unit to capture an image around a mounted device, and a direction change that causes the direction changing unit to change the direction by driving the image capturing unit. A direction correction step for causing the direction correction unit to correct the direction of the image photographing unit in a preset reference direction; and a direction correction process by the direction correction unit at a timing preset in the correction instruction unit. The image capturing unit is mounted on a moving body traveling on a road surface, and the correction instructing unit is in a state where the moving body is traveling. The direction correction process is performed according to the timing of stopping or slowing down, and the direction changing unit changes the direction of the image shooting unit to a shooting direction for shooting after the direction correction process. And characterized in that.
　本発明に係る撮影制御プログラムを格納した不揮発性のコンピュータ読み取り可能なデータ記録媒体は、本発明に係る撮影制御方法の各ステップをコンピュータに実行させることを特徴とする。 A non-volatile computer-readable data recording medium storing a shooting control program according to the present invention is characterized by causing a computer to execute each step of the shooting control method according to the present invention.
　本発明によると、方向補正処理を予め実施してから撮影方向に変更するので、確実に自動操作による画像の撮影を実施することができる。 According to the present invention, since the direction correction processing is performed in advance and then the shooting direction is changed, it is possible to reliably take an image by automatic operation.
本発明の実施の形態に係る移動体の概略側面図である。It is a schematic side view of the moving body which concerns on embodiment of this invention. 本発明の第１実施形態に係る撮影制御装置の概略構成を示す概略構成図である。1 is a schematic configuration diagram illustrating a schematic configuration of a photographing control apparatus according to a first embodiment of the present invention. 本発明の第１実施形態に係る撮影制御装置を用いた監視システムの概略構成を示す概略構成図である。It is a schematic block diagram which shows schematic structure of the monitoring system using the imaging | photography control apparatus which concerns on 1st Embodiment of this invention. 画像撮影部を示す拡大斜視図である。It is an expansion perspective view which shows an image imaging part. 本発明の第１実施形態に係る撮影制御装置における方向補正処理１の処理フローを示すフロー図である。It is a flowchart which shows the process flow of the direction correction process 1 in the imaging | photography control apparatus which concerns on 1st Embodiment of this invention. 本発明の第２実施形態に係る撮影制御装置における方向補正処理２の処理フローを示すフロー図である。It is a flowchart which shows the process flow of the direction correction process 2 in the imaging | photography control apparatus which concerns on 2nd Embodiment of this invention. 本発明の第３実施形態に係る撮影制御装置における走行後補正処理の処理フローを示すフロー図である。It is a flowchart which shows the process flow of the correction process after a driving | running | working in the imaging | photography control apparatus which concerns on 3rd Embodiment of this invention.
　（第１実施形態）
　以下、本発明の実施の形態に係る移動体および撮影制御装置について、図面を参照して説明する。 (First embodiment)
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a moving body and an imaging control device according to embodiments of the invention will be described with reference to the drawings.
　図１は、本発明の実施の形態に係る移動体の概略側面図である。 FIG. 1 is a schematic side view of a moving body according to an embodiment of the present invention.
　本発明の実施の形態に係る移動体１は、予め設定された経路に沿って路面１００を移動する四輪の車両である。移動体１は、通常、前面（図１では、右方）に向かって直進し、適宜走行する方向を変更する。 The moving body 1 according to the embodiment of the present invention is a four-wheeled vehicle that moves on the road surface 100 along a preset route. The moving body 1 usually moves straight toward the front surface (rightward in FIG. 1) and changes the traveling direction as appropriate.
　移動体１の車体２には、車輪３、画像撮影部４、およびアーム部６が取り付けられている。 A wheel 3, an image capturing unit 4, and an arm unit 6 are attached to the vehicle body 2 of the moving body 1.
　車輪３は、車体２の内部に収納されたモータ等の駆動源に接続されており、車輪３を駆動させることで、移動体１が走行する。本実施の形態では、車輪３を４つ備えた構成としているが、これに限定されず、車輪３の数を変更したり、ベルト等を用いたりしてもよく、移動体１を走行させ、適宜走行する速度を調整できる構成とされていればよい。 The wheel 3 is connected to a drive source such as a motor housed inside the vehicle body 2, and the vehicle 1 travels by driving the wheel 3. In the present embodiment, four wheels 3 are provided, but the present invention is not limited to this, and the number of wheels 3 may be changed or a belt or the like may be used. It is only necessary that the traveling speed can be adjusted appropriately.
　アーム部６は、一端が車体２の上面に取り付けられており、他端に画像撮影部４を備えた長尺状の部材とされている。アーム部６は、車体２への取付箇所を起点に回動する構成とされており、回動することで他端に設けられた監視装置を上下方向に移動させることができる。アーム部６には、画像撮影部４だけでなく、物体を検知するセンサ等が取り付けられていてもよい。 One end of the arm portion 6 is attached to the upper surface of the vehicle body 2, and the arm portion 6 is a long member having the image photographing portion 4 at the other end. The arm portion 6 is configured to rotate from an attachment position to the vehicle body 2, and the monitoring device provided at the other end can be moved in the vertical direction by rotating. The arm unit 6 may be provided with not only the image capturing unit 4 but also a sensor for detecting an object.
　画像撮影部４は、ＰＴＺカメラであって、後述する撮影制御装置１０に制御され、移動体１の周囲の画像および映像を撮影する。なお、画像撮影部４の構造については、後述する図４を参照して、詳細に説明する。 The image photographing unit 4 is a PTZ camera, and is controlled by a photographing control device 10 to be described later, and photographs an image and a video around the moving body 1. The structure of the image photographing unit 4 will be described in detail with reference to FIG.
　図２は、本発明の第１実施形態に係る撮影制御装置の概略構成を示す概略構成図である。 FIG. 2 is a schematic configuration diagram showing a schematic configuration of the imaging control apparatus according to the first embodiment of the present invention.
　本発明の第１実施形態に係る撮影制御装置１０は、画像撮影部４、方向変更部１１、方向補正部１２、補正指示部１３、加速度センサ１４、およびマップ記憶部１５を含む構成とされている。 The imaging control device 10 according to the first embodiment of the present invention includes an image capturing unit 4, a direction changing unit 11, a direction correcting unit 12, a correction instruction unit 13, an acceleration sensor 14, and a map storage unit 15. Yes.
　方向変更部１１は、画像撮影部４を駆動して、向きを変更させる。方向補正部１２は、画像撮影部４の向きを、予め設定された基準方向へ補正する。補正指示部１３は、予め設定されたタイミングにおいて、方向補正部１２による方向補正処理の実施を指示する。なお、画像撮影部４を駆動および補正させる方法については、後述する図４を参照して、詳細に説明する。 The direction changing unit 11 drives the image photographing unit 4 to change the direction. The direction correction unit 12 corrects the orientation of the image photographing unit 4 to a preset reference direction. The correction instruction unit 13 instructs execution of the direction correction process by the direction correction unit 12 at a preset timing. A method for driving and correcting the image photographing unit 4 will be described in detail with reference to FIG. 4 described later.
　加速度センサ１４は、移動体１の振動を検知するセンサとされている。具体的に、加速度センサ１４は、３次元方向への加速度を検知することで、移動体１に加えられた振動を把握する。 The acceleration sensor 14 is a sensor that detects the vibration of the moving body 1. Specifically, the acceleration sensor 14 detects vibration applied to the moving body 1 by detecting acceleration in a three-dimensional direction.
　マップ記憶部１５は、移動体１が走行する経路を予め設定した走行マップを記憶している。そして、移動体１は、走行マップに従って、ユーザに設定された経路を走行する。走行マップには、画像を撮影させる撮影地点をユーザが設定することができる。画像撮影部４では、撮影地点において、移動体１の全周を撮影してもよいし、予め設定された方向を撮影してもよい。走行マップにおいて、撮影地点毎に重要度を設定でき、重要度に応じて、画像の数や撮影する時間などを異ならせてもよい。 The map storage unit 15 stores a travel map in which a route on which the moving body 1 travels is set in advance. And the mobile body 1 drive | works the path | route set by the user according to the driving | running | working map. In the travel map, the user can set a shooting point at which an image is shot. The image photographing unit 4 may photograph the entire circumference of the moving body 1 at a photographing point, or may photograph a preset direction. In the travel map, the importance can be set for each photographing point, and the number of images, the time for photographing, and the like may be varied depending on the importance.
　移動体１は、現在の位置を把握する方法を適宜備えており、例えば、走行した時間、速度、および方向などから、走行マップに基づいて判断してもよい。また、ＧＰＳなどを使って通信する構成としてもよい。 The moving body 1 is appropriately provided with a method of grasping the current position, and may be determined based on the travel map from, for example, the travel time, speed, and direction. Moreover, it is good also as a structure which communicates using GPS etc.
　図３は、本発明の第１実施形態に係る撮影制御装置を用いた監視システムの概略構成を示す概略構成図である。 FIG. 3 is a schematic configuration diagram showing a schematic configuration of a monitoring system using the imaging control apparatus according to the first embodiment of the present invention.
　上述した撮影制御装置１０は、複数の移動体１を用いて、周辺を監視する監視システムに適用されている。具体的に、監視システム（撮影制御システム）は、ネットワークＮＷを通じて接続された監視装置２０と複数の移動体１とで構成されている。つまり、移動体１によって撮影された画像は、監視装置２０へ送信され、監視装置２０のディスプレイに表示されたり、監視装置２０の記憶媒体に記憶されたりする。 The above-described imaging control device 10 is applied to a monitoring system that monitors the periphery using a plurality of moving bodies 1. Specifically, the monitoring system (imaging control system) includes a monitoring device 20 and a plurality of moving bodies 1 connected through a network NW. That is, an image photographed by the moving body 1 is transmitted to the monitoring device 20 and displayed on the display of the monitoring device 20 or stored in a storage medium of the monitoring device 20.
　なお、本発明はこれに限定されず、移動体１および監視装置２０のうち、いずれか一方だけで構成されていてもよく、監視装置２０に画像撮影部４を設けてもよい。また、移動体１だけで構成する場合は、移動体１で画像撮影部４を制御し、外部へ画像を送信したり、画像を蓄積したりすればよい。上述した方向補正部１２および補正指示部１３は、図示しないＣＰＵに予め組み込まれたプログラムとして、図示しないフラッシュメモリ、ハードディスク、その他の不揮発性のデータ記録媒体に記憶され、記憶したプログラムを実行することにより、後述する処理を実行する。方向補正部１２および補正指示部１３を記憶するＣＰＵは、撮影制御システムの構成に応じて、移動体１または監視装置２０のいずれか、あるいは両方に設けられていればよい。 In addition, this invention is not limited to this, It may be comprised only in any one among the mobile body 1 and the monitoring apparatus 20, and the image imaging | photography part 4 may be provided in the monitoring apparatus 20. FIG. In the case where only the moving body 1 is used, the image capturing unit 4 may be controlled by the moving body 1, and an image may be transmitted to the outside or an image may be accumulated. The direction correcting unit 12 and the correction instructing unit 13 described above are stored in a flash memory, a hard disk, or other non-volatile data recording medium (not shown) as a program previously incorporated in a CPU (not shown), and execute the stored program. Thus, the processing described later is executed. The CPU that stores the direction correction unit 12 and the correction instruction unit 13 may be provided in either or both of the moving body 1 and the monitoring device 20 according to the configuration of the imaging control system.
　図４は、画像撮影部を示す拡大斜視図である。 FIG. 4 is an enlarged perspective view showing the image photographing unit.
　画像撮影部４は、アーム部６に設置される設置基台４ａの上に、横旋回部４ｂが取り付けられ、縦旋回部４ｃが横旋回部４ｂに支持されており、縦旋回部４ｃに画像を撮影するためのレンズ部４ｄが設けられている。横旋回部４ｂおよび縦旋回部４ｃは、モータなどによって駆動され、画像撮影部４は、レンズ部４ｄが向けられた撮影方向の画像を撮影する。 In the image photographing unit 4, a horizontal turning unit 4b is mounted on an installation base 4a installed on the arm unit 6, and the vertical turning unit 4c is supported by the horizontal turning unit 4b. A lens portion 4d is provided for photographing. The horizontal turning unit 4b and the vertical turning unit 4c are driven by a motor or the like, and the image photographing unit 4 photographs an image in the photographing direction to which the lens unit 4d is directed.
　設置基台４ａは、アーム部６に取り付けられる底面に対して対向する上面が設けられ、上面の中心に横旋回部４ｂが取り付けられている。 The installation base 4a is provided with an upper surface facing the bottom surface attached to the arm portion 6, and a horizontal turning portion 4b is attached to the center of the upper surface.
　横旋回部４ｂは、設置基台４ａの上面に対して、垂直な回転軸の軸回り（図４では、横旋回方向Ｐ）で回転するように支持されており、旋回範囲が３６０度とされている。つまり、横旋回部４ｂは、設置基台４ａに対して全周を向く構成とされている。 The horizontal turning portion 4b is supported so as to rotate around the axis of the vertical rotation axis with respect to the upper surface of the installation base 4a (the horizontal turning direction P in FIG. 4), and the turning range is 360 degrees. ing. That is, the lateral turning part 4b is configured to face the entire circumference with respect to the installation base 4a.
　縦旋回部４ｃは、略円柱状の形状とされており、側面にレンズ部４ｄが設けられている。そして、縦旋回部４ｃは、設置基台４ａの上面に対して、平行な回転軸の軸回り（図４では、縦旋回方向Ｔ）で回転するように横旋回部４ｂに支持されており、旋回範囲が１８０度とされている。つまり、縦旋回部４ｃは、設置基台４ａの上方側半周にレンズ部４ｄを向けられるように構成されている。 The vertical turning portion 4c has a substantially cylindrical shape, and a lens portion 4d is provided on a side surface. And the vertical turning part 4c is supported by the horizontal turning part 4b so as to rotate around the axis of the rotation axis parallel to the upper surface of the installation base 4a (vertical turning direction T in FIG. 4). The turning range is 180 degrees. That is, the vertical turning portion 4c is configured such that the lens portion 4d can be directed to the upper half circumference of the installation base 4a.
　上述したように、画像撮影部４は、横旋回部４ｂおよび縦旋回部４ｃの旋回を組み合わせることで、方向変更部１１に指定された方向へレンズ部４ｄを向けて、撮影することができる。ところで、横旋回部４ｂおよび縦旋回部４ｃには、位置センサが設けられており、位置センサを検知することで、それぞれがどの方向を向いているかを把握することができ、位置センサに基づいて、基準方向が設定されている。そして、方向補正処理では、横旋回部４ｂおよび縦旋回部４ｃをそれぞれ旋回させて、位置センサを検知することで、画像撮影部４が基準方向を向くように向きを修正する。なお、通常、方向変更部１１に指示されて画像撮影部４の向きを変える際には、位置センサを通過しないように制御されることが好ましい。 As described above, the image photographing unit 4 can photograph the lens unit 4d in the direction specified by the direction changing unit 11 by combining the turning of the horizontal turning unit 4b and the vertical turning unit 4c. By the way, the horizontal turning unit 4b and the vertical turning unit 4c are provided with position sensors, and by detecting the position sensors, it is possible to grasp which direction each is facing, based on the position sensors. The reference direction is set. In the direction correction process, the horizontal turning unit 4b and the vertical turning unit 4c are turned to detect the position sensor, thereby correcting the orientation so that the image photographing unit 4 faces the reference direction. Usually, when the direction changing unit 11 is instructed to change the orientation of the image capturing unit 4, it is preferable to control the direction so as not to pass the position sensor.
　画像撮影部４において、方向補正処理は、補正指示部１３から指示された際以外にも実施される。具体的には、横旋回部４ｂおよび縦旋回部４ｃを旋回させて、位置センサを検知した際にも、方向補正処理が実施される。そのため、振動などによって画像撮影部４の向きがずれていた場合には、方向変更部１１に指示されて画像撮影部４の向きを変えた際、意図せずに位置センサを通過することがあった。そして、方向補正処理が実施された結果、画像撮影部４の向きを変更する動作がキャンセルされ、自動操作による撮影が正しく実行されない場合があった。本実施の形態では、このような問題に対して、方向補正処理を予め実施してから画像撮影部４の向きを変更することで、確実に自動操作による画像の撮影を実施することができる構成として、問題の解決を図っている。以下では、撮影制御装置１０での方向補正処理について、図面を参照して説明する。 In the image photographing unit 4, the direction correction process is performed other than when instructed by the correction instruction unit 13. Specifically, the direction correction process is also performed when the horizontal turning unit 4b and the vertical turning unit 4c are turned and a position sensor is detected. For this reason, when the orientation of the image capturing unit 4 is shifted due to vibration or the like, when the direction changing unit 11 is instructed to change the orientation of the image capturing unit 4, the position sensor may pass unintentionally. It was. As a result of performing the direction correction processing, the operation of changing the orientation of the image photographing unit 4 is canceled, and photographing by automatic operation may not be executed correctly. In the present embodiment, with respect to such a problem, a configuration in which an image can be reliably captured by automatic operation by changing the orientation of the image capturing unit 4 after performing the direction correction processing in advance. As a solution to the problem. Below, the direction correction process in the imaging | photography control apparatus 10 is demonstrated with reference to drawings.
　図５は、本発明の第１実施形態に係る撮影制御装置における方向補正処理１の処理フローを示すフロー図である。 FIG. 5 is a flowchart showing a process flow of the direction correction process 1 in the photographing control apparatus according to the first embodiment of the present invention.
　図５に示す方向補正処理１の処理開始時において、移動体１は、走行マップに従って、経路を走行している。 At the start of the process of the direction correction process 1 shown in FIG. 5, the moving body 1 is traveling on the route according to the travel map.
　ステップＳ０１では、移動体１が停止する。移動体１が走行している状態から停止するタイミングは、走行マップの撮影地点に到達した際だけでなく、障害物を検知して停止した際などを含んでいてもよい。また、ここでは、移動体１が完全に停止せず、徐行して、即座に停止できる状態であってもよい。 In step S01, the moving body 1 stops. The timing of stopping from the state in which the moving body 1 is traveling may include not only the time when the shooting point of the travel map is reached, but also the time when the obstacle is detected and stopped. In addition, here, the mobile body 1 may be in a state in which the mobile body 1 does not stop completely but can be stopped slowly and stopped immediately.
　ステップＳ０２では、補正指示部１３によって、方向補正処理を実施させる。方向補正部１２が方向補正処理をした結果、画像撮影部４の向きが補正されるので、画像撮影部４のズレが解消される。 In step S02, the correction instruction unit 13 performs a direction correction process. As a result of the direction correction processing performed by the direction correction unit 12, the orientation of the image capturing unit 4 is corrected.
　ステップＳ０３では、方向変更部１１によって、画像撮影部４の向きが変更される。そして、ステップＳ０４では、画像撮影部４によって、画像が撮影され、処理を終了する。処理が終了した後は、移動体１を再度走行させてもよいし、新たな指示がされるまで待機してもよい。また、移動体１を停止したときに、複数の方向の画像を撮影する際には、ステップＳ０３とステップＳ０４とを繰り返した後、処理を終了すればよい。 In step S03, the direction changing unit 11 changes the orientation of the image capturing unit 4. In step S04, the image capturing unit 4 captures an image, and the process ends. After the process is completed, the moving body 1 may be run again, or may wait until a new instruction is given. Further, when images of a plurality of directions are taken when the moving body 1 is stopped, the process may be terminated after repeating Step S03 and Step S04.
　上述したように、補正指示部１３は、移動体１が停止するタイミングに応じて、方向補正処理を実施させ、方向変更部１１は、方向補正処理の後に、画像撮影部４の向きを撮影する撮影方向に変更させる。また、補正指示部１３は、移動体１が停止した状態で、方向補正処理を実施させる。これによって、方向補正処理の際には、移動体１が停止しているので、走行による振動などで、画像撮影部４の向きがずれることを回避できる。 As described above, the correction instruction unit 13 performs the direction correction process according to the timing at which the moving body 1 stops, and the direction changing unit 11 captures the direction of the image capturing unit 4 after the direction correction process. Change the shooting direction. Further, the correction instruction unit 13 causes the direction correction process to be performed in a state where the moving body 1 is stopped. Accordingly, since the moving body 1 is stopped during the direction correction process, it is possible to avoid the orientation of the image capturing unit 4 from being shifted due to vibration caused by traveling.
　本発明に係る撮影制御方法は、画像撮影部４に、搭載された機器の周囲の画像を撮影させる画像撮影ステップと、方向変更部１１に、画像撮影部４を駆動して、向きを変更させる方向変更ステップと、方向補正部１２に、画像撮影部４の向きを、予め設定された基準方向へ補正させる方向補正ステップと、補正指示部１３に、予め設定されたタイミングにおいて、方向補正部１２による方向補正処理の実施を指示させる補正指示ステップとを含んでいる。画像撮影部４は、路面を走行する移動体１に搭載されている。補正指示部１３は、移動体１が停止するタイミングに応じて、方向補正処理を実施させる。方向変更部１１は、方向補正処理の後に、画像撮影部４の向きを撮影する撮影方向に変更させる。 In the shooting control method according to the present invention, the image shooting unit 4 causes the image shooting unit 4 to take an image around the mounted device, and the direction changing unit 11 drives the image shooting unit 4 to change the orientation. The direction correction step, the direction correction unit 12 causes the direction of the image capturing unit 4 to correct the direction of the image photographing unit 4 in a preset reference direction, and the correction instruction unit 13 sets the direction correction unit 12 at a preset timing. And a correction instruction step for instructing execution of the direction correction process by the above. The image photographing unit 4 is mounted on the moving body 1 that travels on the road surface. The correction instruction unit 13 causes the direction correction process to be performed according to the timing when the moving body 1 stops. The direction changing unit 11 changes the direction of the image photographing unit 4 to the photographing direction for photographing after the direction correction processing.
　また、走行マップには、方向補正処理を実施させる地点が予め設定され、補正指示部１３は、走行マップに基づいて、方向補正処理を実施させる構成とされている。したがって、重点的に画像を撮影すべき地点では、移動体１の状況に拘らず、方向補正処理を実施させることで、画像の精度を確保することができる。 In the travel map, a point where the direction correction process is performed is set in advance, and the correction instruction unit 13 is configured to perform the direction correction process based on the travel map. Therefore, the accuracy of the image can be ensured by performing the direction correction process at the point where the image should be taken with priority, regardless of the state of the moving body 1.
　また、移動体１には、停止して画像撮影部４に画像を撮影させる停止場所が予め設定されていてもよい。この場合、補正指示部１３が方向補正処理の実施を支持するタイミングは、移動体１が停止場所に到達した際とされている。 Further, a stop location where the moving body 1 stops and causes the image capturing unit 4 to capture an image may be set in advance. In this case, the timing at which the correction instruction unit 13 supports the execution of the direction correction process is when the moving body 1 reaches the stop location.
　上述した処理フローでは、方向補正処理の直後に、画像の撮影を行っているが、これに限定されず、方向補正処理をしてから画像の撮影をするまでの間に、短い距離であれば、移動体１が走行してもよい。ここでは、移動体１の走行によって、画像撮影部４のズレを生じさせないような距離（例えば、数ｍ程度）を許容範囲としている。 In the processing flow described above, an image is shot immediately after the direction correction process. However, the present invention is not limited to this. If the distance is short between the direction correction process and the image shooting, The mobile body 1 may travel. Here, the allowable range is a distance (for example, about several meters) that does not cause the image capturing unit 4 to be displaced by the traveling of the moving body 1.
　（第２実施形態）
　次に、本発明の第２実施形態に係る撮影制御装置について、図面を参照して説明する。 (Second Embodiment)
Next, a photographing control apparatus according to a second embodiment of the present invention will be described with reference to the drawings.
　図６は、本発明の第２実施形態に係る撮影制御装置における方向補正処理２の処理フローを示すフロー図である。 FIG. 6 is a flowchart showing a process flow of the direction correction process 2 in the photographing control apparatus according to the second embodiment of the present invention.
　第２実施形態は、第１実施形態に対して、方向補正処理の内容が異なる構成とされており、撮影制御装置１０の具体的な構成については、図１ないし図４に示す第１実施形態と略同様とされているので、説明を省略する。 The second embodiment is different from the first embodiment in the content of the direction correction process, and the specific configuration of the imaging control device 10 is shown in FIGS. 1 to 4 in the first embodiment. The description is omitted because it is substantially the same.
　第２実施形態では、第１実施形態と同様に、図６に示す方向補正処理２の処理開始時において、移動体１は、走行マップに従って、経路を走行している。 In the second embodiment, similarly to the first embodiment, at the start of the direction correction process 2 shown in FIG. 6, the moving body 1 is traveling on a route according to the travel map.
　ステップＳ１１では、補正指示部１３によって、移動体１が停止位置に近づいたかどうかを判断する。具体的には、移動体１の現在位置と走行マップとを照らし合わせて判断しており、本実施の形態では、移動体１が停止位置に到達する時間の１０秒前に、停止位置に近づいたと判断する。その結果、移動体１が停止位置に近づいた場合（ステップＳ１１：Ｙｅｓ）には、ステップＳ１２へ進む。一方、移動体１が停止位置に近づいていない場合（ステップＳ１１：Ｎｏ）には、停止位置に近づくまで処理を待機し、移動体１を走行させる。 In step S11, the correction instruction unit 13 determines whether the moving body 1 has approached the stop position. Specifically, the determination is made by comparing the current position of the moving body 1 and the travel map, and in this embodiment, the moving body 1 approaches the stop position 10 seconds before the time it reaches the stop position. Judge that As a result, when the moving body 1 approaches the stop position (step S11: Yes), the process proceeds to step S12. On the other hand, when the mobile body 1 is not approaching the stop position (step S11: No), the process waits until the mobile body 1 approaches the stop position, and the mobile body 1 is caused to travel.
　また、ステップＳ１１において、補正指示部１３は、移動体１が停止位置近傍で減速したことに基づいて、移動体１が停止位置に近づいたと判断してもよい。したがって、移動体１が減速してから方向補正処理を実施するので、走行による振動の影響を抑えることができる。 In step S11, the correction instruction unit 13 may determine that the mobile body 1 has approached the stop position based on the fact that the mobile body 1 has decelerated near the stop position. Therefore, since the direction correction process is performed after the moving body 1 decelerates, the influence of vibration due to traveling can be suppressed.
　ステップＳ１２では、補正指示部１３によって、方向補正処理を実施させる。そして、ステップＳ１３では、移動体１が停止する。つまり、補正指示部１３は、移動体１が予め指示された停止位置に近づいてから停止するまでの間に、方向補正処理を実施させる。したがって、移動体１が停止するのに合わせて、方向補正処理を実施することで、待機時間を短縮し、素早く画像の撮影することができる。 In step S12, the correction instruction unit 13 performs a direction correction process. And in step S13, the mobile body 1 stops. That is, the correction instruction unit 13 performs the direction correction process after the moving body 1 approaches the stop position specified in advance until it stops. Therefore, by performing the direction correction process in accordance with the stop of the moving body 1, the standby time can be shortened and an image can be taken quickly.
　ステップＳ１４およびステップＳ１５の処理については、上述したステップＳ０３およびステップＳ０４と同様であるので、説明を省略する。ステップＳ１５の後は、第１実施形態と同様に、処理を終了し、移動体１を再度走行させてもよいし、新たな指示がされるまで待機してもよい。 Since the processing in step S14 and step S15 is the same as that in step S03 and step S04 described above, description thereof will be omitted. After step S15, as in the first embodiment, the process may be terminated and the moving body 1 may be run again, or may wait until a new instruction is given.
　（第３実施形態）
　次に、本発明の第３実施形態に係る撮影制御装置について、図面を参照して説明する。 (Third embodiment)
Next, a photographing control apparatus according to a third embodiment of the present invention will be described with reference to the drawings.
　図７は、本発明の第３実施形態に係る撮影制御装置における走行後補正処理の処理フローを示すフロー図である。 FIG. 7 is a flowchart showing a processing flow of post-travel correction processing in the imaging control apparatus according to the third embodiment of the present invention.
　第３実施形態は、方向補正処理（方向補正処理１または方向補正処理２）の後、移動体１が走行した後に、方向補正処理をするかどうかを判断する構成とされている。なお、撮影制御装置１０の具体的な構成については、図１ないし図４に示す第１実施形態および第２実施形態と略同様とされているので、説明を省略する。 In the third embodiment, after the direction correction process (direction correction process 1 or direction correction process 2), it is determined whether or not to perform the direction correction process after the mobile body 1 has traveled. Note that the specific configuration of the imaging control device 10 is substantially the same as that of the first embodiment and the second embodiment shown in FIGS.
　ステップＳ２１では、方向補正処理１または方向補正処理２を実施する。つまり、移動体１は、方向補正処理をして画像を撮影した後とされ、停止した状態とされている。 In step S21, the direction correction process 1 or the direction correction process 2 is performed. That is, the moving body 1 is in a stopped state after the direction correction process is performed and an image is taken.
　ステップＳ２２では、移動体１が走行する。ここで、移動体１は、停止した位置から走行した距離を計測する。 In step S22, the moving body 1 travels. Here, the moving body 1 measures the distance traveled from the stopped position.
　ステップＳ２３では、画像の撮影が指示された際、補正指示部１３によって、移動体１の走行距離が予め設定した規定距離を超えているかどうかを判断する。その結果、走行距離が規定距離を超えている場合（ステップＳ２３：Ｙｅｓ）には、ステップＳ２６へ進む。一方、走行距離が規定距離を超えていない場合（ステップＳ２３：Ｎｏ）には、ステップＳ２４へ進む。なお、規定距離は適宜設定すればよく、例えば、数ｍ程度とされている。 In step S23, when an instruction to capture an image is given, the correction instruction unit 13 determines whether or not the travel distance of the moving body 1 exceeds a preset specified distance. As a result, when the travel distance exceeds the specified distance (step S23: Yes), the process proceeds to step S26. On the other hand, when the travel distance does not exceed the specified distance (step S23: No), the process proceeds to step S24. Note that the specified distance may be set as appropriate, for example, about several meters.
　ステップＳ２４およびステップＳ２５の処理については、上述したステップＳ０３およびステップＳ０４と同様であるので、説明を省略する。 Since the processing in step S24 and step S25 is the same as that in step S03 and step S04 described above, description thereof will be omitted.
　ステップＳ２６では、方向補正処理１または方向補正処理２を実施する。つまり、方向補正処理の後に移動体１が走行してから画像を撮影する際に、移動体１が規定距離以上走行していると、方向補正処理を実施させる。 In step S26, the direction correction process 1 or the direction correction process 2 is performed. That is, when the moving body 1 travels more than a specified distance when an image is taken after the moving body 1 travels after the direction correction processing, the direction correction processing is performed.
　ステップＳ２５およびステップＳ２６の後は、第１実施形態および第２実施形態と同様に、処理を終了する。 After step S25 and step S26, the process is terminated in the same manner as in the first and second embodiments.
　上述したように、本実施の形態では、走行距離に応じて、方向補正処理をするかどうかを判断している。したがって、移動体１が長距離移動して、画像撮影部４のズレが懸念される場合に、方向補正処理を実施させ、移動体１の走行によるズレの影響が小さい場合には、方向補正処理を省略する。このように、移動体１の移動距離に応じて、方向補正処理の有無を判断することで、適切な機会に方向補正処理を実施させることができる。 As described above, in this embodiment, it is determined whether or not to perform the direction correction process according to the travel distance. Therefore, when the moving body 1 moves a long distance and there is a concern about the deviation of the image capturing unit 4, the direction correction process is performed. When the influence of the deviation due to the traveling of the moving body 1 is small, the direction correction process is performed. Is omitted. Thus, by determining the presence or absence of the direction correction process according to the moving distance of the moving body 1, the direction correction process can be performed at an appropriate opportunity.
　第３実施形態では、ステップＳ２３において、走行距離に基づいて判断したが、これに限定されず、加速度センサの検知結果に基づいて判断してもよい。したがって、方向補正処理の後に移動体１が走行してから画像を撮影する際、補正指示部１３は、加速度センサの検知結果に基づいて、方向補正処理を実施させる。このように、移動体１の振動状況に応じて、方向補正処理の有無を判断することで、適切な機会に方向補正処理を実施させることができる。 In the third embodiment, the determination is made based on the travel distance in step S23, but the determination is not limited to this, and the determination may be made based on the detection result of the acceleration sensor. Therefore, when the mobile body 1 travels after the direction correction process and takes an image, the correction instruction unit 13 performs the direction correction process based on the detection result of the acceleration sensor. Thus, by determining the presence or absence of the direction correction process according to the vibration state of the moving body 1, the direction correction process can be performed at an appropriate opportunity.
　加速度センサ１４は、検知した加速度の積算値を検知結果として出力するのが好ましい。つまり、瞬間的に大きな振動だけで判断するのではなく、継続した小さな振動も結果に反映することで、長距離走行した際の画像撮影部４のズレも考慮することができる。 The acceleration sensor 14 preferably outputs the detected acceleration integrated value as a detection result. That is, it is possible to take into account the deviation of the image capturing unit 4 when traveling a long distance by reflecting the result of the continuous small vibration instead of making a determination based on the instantaneous large vibration.
　なお、今回開示した実施の形態は全ての点で例示であって、限定的な解釈の根拠となるものではない。従って、本発明の技術的範囲は、上記した実施の形態のみによって解釈されるものではなく、特許請求の範囲の記載に基づいて画定される。また、特許請求の範囲と均等の意味および範囲内での全ての変更が含まれる。 It should be noted that the embodiment disclosed this time is illustrative in all respects and does not serve as a basis for limited interpretation. Therefore, the technical scope of the present invention is not interpreted only by the above-described embodiment, but is defined based on the description of the scope of claims. Moreover, all the changes within the meaning and range equivalent to a claim are included.
　なお、この出願は、日本で２０１６年１２月１４日に出願された特願２０１６－２４２００６号に基づく優先権を請求する。その内容はこれに言及することにより、本出願に組み込まれるものである。また、本明細書に引用された文献は、これに言及することにより、その全部が具体的に組み込まれるものである。 This application claims priority based on Japanese Patent Application No. 2016-242006 filed on December 14, 2016 in Japan. The contents of which are hereby incorporated by reference into this application. In addition, the documents cited in the present specification are specifically incorporated in their entirety by referring to them.
　１　移動体
　４　画像撮影部
　１０　撮影制御装置
　１１　方向変更部
　１２　方向補正部
　１３　補正指示部
　１４　加速度センサ
　１５　マップ記憶部
　２０　監視装置
　ＮＷ　ネットワーク
　Ｐ　横旋回方向
　Ｔ　縦旋回方向 DESCRIPTION OF SYMBOLS 1 Mobile body 4 Image pick-up part 10 Shooting control apparatus 11 Direction change part 12 Direction correction part 13 Correction instruction | indication part 14 Acceleration sensor 15 Map memory | storage part 20 Monitoring apparatus NW network P Lateral turning direction T Vertical turning direction

Claims (11)

  1. 　搭載された機器の周囲の画像を撮影する画像撮影部と、
    　前記画像撮影部を駆動して、向きを変更させる方向変更部と、
    　前記画像撮影部の向きを、予め設定された基準方向へ補正する方向補正部と、
    　予め設定されたタイミングにおいて、前記方向補正部による方向補正処理の実施を指示する補正指示部とを備えた撮影制御装置であって、
    　前記画像撮影部は、路面を走行する移動体に搭載され、
    　前記補正指示部は、前記移動体が走行している状態から停止または徐行するタイミングに応じて、前記方向補正処理を実施させ、
    　前記方向変更部は、前記方向補正処理の後に、前記画像撮影部の向きを撮影する撮影方向に変更させること
    　を特徴とする撮影制御装置。     An image capturing unit that captures images around the installed device,
    A direction changing unit that drives the image photographing unit to change the orientation;
    A direction correction unit that corrects the orientation of the image photographing unit in a preset reference direction;
    A photographing control device including a correction instruction unit that instructs execution of a direction correction process by the direction correction unit at a preset timing;
    The image photographing unit is mounted on a moving body traveling on a road surface,
    The correction instruction unit performs the direction correction process according to the timing at which the moving body stops or slows down from the traveling state,
    The direction control unit changes the direction of the image photographing unit to a photographing direction for photographing after the direction correction processing.
  2. 　請求項１に記載の撮影制御装置であって、
    　前記補正指示部は、前記移動体が停止した状態で、前記方向補正処理を実施させること
    　を特徴とする撮影制御装置。     The imaging control device according to claim 1,
    The imaging control apparatus, wherein the correction instruction unit causes the direction correction processing to be performed in a state where the moving body is stopped.
  3. 　請求項１に記載の撮影制御装置であって、
    　前記補正指示部は、前記移動体が予め指示された停止位置に近づいてから停止するまでの間に、前記方向補正処理を実施させること
    　を特徴とする撮影制御装置。     The imaging control device according to claim 1,
    The correction control unit causes the direction correction processing to be performed during a period from when the moving body approaches a stop position specified in advance until it stops.
  4. 　請求項３に記載の撮影制御装置であって、
    　前記補正指示部は、前記移動体が前記停止位置近傍で減速したことに基づいて、前記移動体が停止位置に近づいたと判断すること
    　を特徴とする撮影制御装置。     The imaging control device according to claim 3,
    The correction control unit determines that the moving body has approached the stop position based on the fact that the moving body has decelerated in the vicinity of the stop position.
  5. 　請求項１から請求項４までのいずれか１つに記載の撮影制御装置であって、
    　前記方向補正処理の後に前記移動体が走行してから画像を撮影する際、前記補正指示部は、前記移動体が予め設定された規定距離以上走行している場合に、前記方向補正処理を実施させること
    　を特徴とする撮影制御装置。     An imaging control apparatus according to any one of claims 1 to 4, wherein
    When taking an image after the mobile object travels after the direction correction process, the correction instruction unit performs the direction correction process when the mobile object travels a predetermined distance or more. An imaging control device characterized by causing
  6. 　請求項１から請求項４までのいずれか１つに記載の撮影制御装置であって、
    　前記移動体の振動を検知する加速度センサを備え、
    　前記方向補正処理の後に前記移動体が走行してから画像を撮影する際、前記補正指示部は、前記加速度センサの検知結果に基づいて、前記方向補正処理を実施させること
    　を特徴とする撮影制御装置。     An imaging control apparatus according to any one of claims 1 to 4, wherein
    An acceleration sensor for detecting vibration of the moving body;
    When the moving object travels after shooting the direction correction process, the correction instruction unit performs the direction correction process based on a detection result of the acceleration sensor. apparatus.
  7. 　請求項１から請求項４までのいずれか１つに記載の撮影制御装置であって、
    　前記移動体が走行する経路を予め設定した走行マップを記憶するマップ記憶部を備え、
    　前記走行マップには、前記方向補正処理を実施させる地点が予め設定され、
    　前記補正指示部は、前記走行マップに基づいて、前記方向補正処理を実施させること
    　を特徴とする撮影制御装置。     An imaging control apparatus according to any one of claims 1 to 4, wherein
    A map storage unit for storing a travel map in which a route traveled by the moving body is set in advance;
    In the travel map, a point for performing the direction correction process is set in advance,
    The imaging control device, wherein the correction instruction unit performs the direction correction process based on the travel map.
  8. 　請求項１から請求項４までのいずれか１つに記載の撮影制御装置であって、
    　前記移動体は、停止して前記画像撮影部に画像を撮影させる停止場所が予め設定されており、
    　前記方向補正処理の実施を指示するタイミングは、前記移動体が前記停止場所に到達し
    た際とされていること
    　を特徴とする撮影制御装置。     An imaging control apparatus according to any one of claims 1 to 4, wherein
    The moving body is set in advance to stop where the image capturing unit stops and captures an image.
    The imaging control apparatus according to claim 1, wherein the timing for instructing the execution of the direction correction processing is set when the moving body reaches the stop location.
  9. 　請求項１から請求項４までのいずれか１つに記載の撮影制御装置を備えた移動体。 A moving body comprising the imaging control device according to any one of claims 1 to 4.
  10. 　画像撮影部に、搭載された機器の周囲の画像を撮影させる画像撮影ステップと、
    　方向変更部に、前記画像撮影部を駆動して、向きを変更させる方向変更ステップと、
    　方向補正部に、前記画像撮影部の向きを、予め設定された基準方向へ補正させる方向補正ステップと、
    　補正指示部に、予め設定されたタイミングにおいて、前記方向補正部による方向補正処理の実施を指示させる補正指示ステップとを含む撮影制御方法であって、
    　前記画像撮影部は、路面を走行する移動体に搭載され、
    　前記補正指示部は、前記移動体が走行している状態から停止または徐行するタイミングに応じて、前記方向補正処理を実施させ、
    　前記方向変更部は、前記方向補正処理の後に、前記画像撮影部の向きを撮影する撮影方向に変更させること
    　を特徴とする撮影制御方法。     An image capturing step for causing the image capturing unit to capture an image around the mounted device; and
    A direction changing step for causing the direction changing unit to drive the image photographing unit to change the direction,
    A direction correction step for causing the direction correction unit to correct the orientation of the image photographing unit to a preset reference direction;
    A correction instruction step for instructing the correction instruction unit to execute a direction correction process by the direction correction unit at a preset timing,
    The image photographing unit is mounted on a moving body traveling on a road surface,
    The correction instruction unit performs the direction correction process according to the timing at which the moving body stops or slows down from the traveling state,
    The direction control unit changes the direction of the image photographing unit to a photographing direction for photographing after the direction correction processing.
  11. 　請求項１０に記載の各ステップをコンピュータに実行させるための撮影制御プログラムを格納した不揮発性のコンピュータ読み取り可能なデータ記録媒体。 A non-volatile computer-readable data recording medium storing an imaging control program for causing a computer to execute each step according to claim 10.
PCT/JP2017/044383 2016-12-14 2017-12-11 Imaging controller, mobile entity, imaging control method, and nonvolatile computer-readable data recording medium in which imaging control program is stored WO2018110501A1 (en)

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JPH0279699A (en) * 1988-09-16 1990-03-20 Hitachi Ltd Remote measuring instrument
JPH0993570A (en) * 1995-09-21 1997-04-04 Fuji Facom Corp Positioning controller for monitor camera and reader for indicator
JP2011124634A (en) * 2009-12-08 2011-06-23 Nippon Hoso Kyokai <Nhk> Robot camera and virtual studio system

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JP5588812B2 (en) * 2010-09-30 2014-09-10 日立オートモティブシステムズ株式会社 Image processing apparatus and imaging apparatus using the same

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0279699A (en) * 1988-09-16 1990-03-20 Hitachi Ltd Remote measuring instrument
JPH0993570A (en) * 1995-09-21 1997-04-04 Fuji Facom Corp Positioning controller for monitor camera and reader for indicator
JP2011124634A (en) * 2009-12-08 2011-06-23 Nippon Hoso Kyokai <Nhk> Robot camera and virtual studio system

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