JPH10188611A - Coordinate specifying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coordinate specifying device specifying the position coordinate where the image pickup axis and reference plane intersect and easy to handle for an operator while an inexpensive image pickup device and a rotary base are used by providing a position coordinate calculation section having no error caused by the distance between the tilt axis and image pickup axis. SOLUTION: A set value memory section 3 stores the height H from the reference plane P to the tilt axis 10, the tilt angle and pan angle as initial set values, and the distance L between the image pickup axis 20 and tilt axis 10 in advance. A position coordinate calculation section 6 calculates the position coordinate (Kcos ϕ, Ksin ϕ) and outputs the position coordinate (Kcos ϕ, Ksin ϕ) to a luminaire drive device, where K=(H/tan θ)+(L/sin θ), H is the height from the reference plane P to the tilt axis 10, L is the distance from the tilt axis 10 to the image pickup axis 20, and K is the distance from a rotary base 1 to the intersection of the image pickup axis 20 and reference plane P.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coordinate specifying device for operating an illumination direction of a lighting device for illuminating a performer or the like using an imaging device in a banquet hall, a hall, a stage, or the like.

[0002]

2. Description of the Related Art The center position of an image picked up by an image pickup device is
There is a lighting fixture driving device that controls the lighting direction of the lighting fixture so as to be the irradiation target of the lighting fixture. In this lighting fixture driving device, a coordinate specifying device that quickly specifies the position coordinates at which the center of the image of the imaging device, that is, the imaging axis intersects, for example, a stage plane corresponding to a reference plane, is used.

FIG. 2 is a block diagram showing an outline of a coordinate specifying device, FIG. 3 is a side view showing a positional relationship between a turntable, an image pickup device, and a reference plane, and FIG. 4 is a position specified by a conventional coordinate specifying device. FIG. 5 is an explanatory diagram showing an error relationship between coordinates and desired position coordinates, and FIG. 5 is an explanatory diagram showing error correction accuracy of a conventional coordinate specifying device.

As shown in FIG. 2, the coordinate specifying device includes a turntable 1, an image pickup device 2, a set value storage unit 3, a tilt angle calculation unit 4, a pan angle calculation unit 5, and a position coordinate calculation unit. 6 is provided. The turntable 1 includes a tilt shaft 10, a pan shaft 11, and a mounting table 1 that rotates about the tilt shaft 10 and the pan shaft 11.
And 2. In the turntable 1, the tilt axis 10 is set to the reference plane P.
And a height H, and sequentially outputs a number of electrical pulse signals proportional to the amount of change between the tilt angle θ and the pan angle φ of the mounting table 12. The imaging device 2 is, for example, a CCD television camera having an imaging axis 20, and is attached to the mounting surface 12 a of the mounting table 12. The setting value storage unit 3
The height H from the reference plane P required for the position coordinate calculation to the tilt axis 10, the tilt angle θ ₀ and the pan angle φ as initial setting values
₀ is stored in advance.

The tilt angle calculator 4 sequentially receives a number of electrical pulse signals output from the turntable 1 in proportion to the amount of change in the tilt angle θ, and counts the number of the electrical pulse signals to obtain a tilt angle. The change amount of θ is detected. The pan angle calculation unit 5 sequentially receives a number of electrical pulse signals proportional to the amount of change in the pan angle φ output from the turntable 1 and counts the number of the electrical pulse signals to thereby change the pan angle φ. Detect the amount.

The position coordinate calculator 6 calculates the tilt angle θ ₁ detected by the tilt angle calculator 4 and the tilt angle θ ₀ as an initial set value stored in the set value storage 3 in advance.
, The current tilt angle θ is sequentially calculated, and the pan-tilt head ₁ is determined from the pan angle φ ₁ detected by the pan angle calculation unit 5 and the pan angle φ ₀ as an initial setting value stored in the setting value storage unit 3 in advance. Are sequentially calculated, and the current tilt angle θ and pan angle φ of the turntable 1 obtained by the calculation and the reference plane P previously stored in the set value storage unit 3 are used to calculate the tilt axis 10. The position coordinates are sequentially calculated from the height H to the position H, and the position coordinates where the imaging axis 20 intersects with the reference plane P, that is, the plane coordinates (x, y) are sequentially specified.

The plane coordinates (x, y) specified by the position coordinate calculator 6 are sequentially output to a lighting fixture driving device for changing the irradiation direction of a spotlight lighting fixture or the like. The irradiation direction of the device is sequentially turned to the plane coordinates (x, y) specified by the position coordinate calculator 6.

Accordingly, the imaging device 2 mounted on the mounting surface 12a of the turntable 1 allows the irradiation target of a performer or the like moving around on the stage to be set at the center position (on the imaging axis) of the image captured by the imaging device 2. If the lighting equipment is operated so as to be constantly captured, the lighting equipment can track and illuminate the irradiation target such as a moving performer.

[0009]

However, in the conventional coordinate specifying device, although the distance L between the imaging axis 20 and the tilt axis 10 exists as shown in FIG. Since the arithmetic processing is performed assuming that there is no such coordinate, the plane coordinates (x, y) specified by the position coordinate calculator 6 differ from the intersection between the imaging axis 20 and the reference plane P and include an error.

That is, in FIG. 3, O is the tilt axis 1
0, the straight line EC and the straight line OB are parallel at a distance L,
The straight line EC is the tilt angle θ on the imaging axis 20 of the imaging device 2, and the height from the reference plane P to the tilt axis O (the straight line AO) is H. Then, the distance (line AC) between the intersection C between the imaging axis 20 and the reference plane P and the point A is actually a line A
Despite the addition of B and the straight line BC, the straight line AB is set, and the straight line BC is ignored and an error occurs.

Therefore, the operator of the imaging device 2 is required to
When the center of the image of the imaging device 2 is traced along the solid line shown in FIG. 4, the locus of the position coordinates (x, y) calculated by the position coordinate calculation unit 6 becomes a broken line shown in FIG. Further, the height H from the reference plane P to the tilt axis 10 as an initial setting value stored in advance in the setting value storage unit 3 is corrected, and H = (H + h) = 1. Fifteen
Even when H is stored, although the state of FIG. 4 is corrected to the state of FIG. 5 and the solid line and the broken line somewhat match,
There is still an error. In FIGS. 4 and 5, the origin (0, 0) corresponds to the point A, and the unit of the position coordinates is unitless. However, the unit may be treated as [meter] or [× 10 meters]. You may handle it.

That is, in the conventional coordinate specifying device,
Even though the distance L between the imaging axis 20 and the tilt axis 10 exists, the arithmetic processing is performed assuming that the distance L does not exist. Therefore, there is a habit in followability, and it is difficult for the operator to handle. There was a problem.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide an excellent coordinate specifying device which has no habit in followability and is easy for an operator to handle. It is in.

[0014]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a coordinate specifying device according to the first aspect of the present invention, which can be installed at a predetermined height from a reference plane and can have a variable tilt angle. A turntable having a mounting surface attached to the tilt axis, a tilt angle calculation unit for determining a tilt angle of the mounting surface, and a mounting surface such that the tilt angle of the imaging axis matches the tilt angle of the mounting surface. An imaging device to be attached, and a setting value storage unit that stores in advance the height from the reference plane to the tilt axis and the distance from the tilt axis to the imaging axis, the height from the reference plane to the tilt axis, and the A coordinate specifying device that specifies a position coordinate at which an imaging axis and a reference plane intersect based on the distance to the imaging axis and the tilt angle obtained by the tilt angle calculation unit, wherein the distance between the tilt axis and the imaging axis is A position coordinate calculation unit free from errors due to existence Characterized in that was.

According to a second aspect of the present invention, there is provided a coordinate identifying apparatus comprising:
When the position coordinate calculation unit sets the height from the reference plane to the tilt axis to H, the distance from the tilt axis to the imaging axis to L, and the plane distance from the turntable to the intersection of the imaging axis and the reference plane as K , The plane distance K, K = (H / tan θ) + (L / si
nθ).

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A coordinate specifying device according to the present invention will be described below in detail with reference to FIG. FIG. 1 is an explanatory diagram showing the relationship among the position coordinates on the reference plane, the tilt angle of the imaging axis, the pan angle, and the tilt axis height.

Now, as is apparent from FIG. 3 described in the prior art, the distance (line AC) between the intersection C of the imaging axis 20 and the reference plane P and the point A is actually equal to the line AB. Straight line B
C and the length of the straight line AB is (H / ta
nθ), the length of the straight line BC is represented by (L / sin θ), and the length of the straight line AC is [(H / tan θ) + (L /
sin θ)].

The coordinate specifying device according to the present invention is different from the conventional one in that the set value storage unit 3 stores the height H from the reference plane P to the tilt axis 10 and the tilt angle as an initial set value. θ ₀ , pan angle φ ₀ , imaging axis 20 and tilt axis 10
And the position coordinate calculator 6 calculates the position coordinates (Kcosφ, Ksinφ) and outputs the position coordinates (Kcosφ, Ksinφ) to the lighting apparatus driving device. The configuration is as described above. Note that K is K = [(H / tan θ) + (L / sin
θ)].

Accordingly, the coordinate specifying device according to the present invention specifies the position coordinates of the intersection C between the imaging axis 20 and the reference plane P by using the position of the imaging axis 20 and the tilt axis 10 as in a conventional coordinate specifying device. Since the position coordinates of the intersection C between the imaging axis 20 and the reference plane P are specified by strictly considering the distance L without neglecting the distance L, there is no habit in the followability and the operator Can be handled easily.

[0020]

According to the first or second aspect of the present invention,
Since the position coordinates are strictly calculated, there is no habit in the follow-up performance even for a commercially available general-purpose inexpensive imaging device or rotating table without using a specially expensive imaging device or rotating table. This has the effect of providing an excellent coordinate specifying device that is easy to handle.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a coordinate specifying device according to the present invention.
FIG. 4 is an explanatory diagram showing a relationship between position coordinates on a reference plane, a tilt angle of an imaging axis, a pan angle, and a tilt axis height.

FIG. 2 is a block diagram illustrating an outline of a coordinate specifying device.

FIG. 3 is a side view showing a positional relationship among a turntable of the coordinate identifying device, an imaging device, and a reference plane.

FIG. 4 is an explanatory diagram showing an error relationship between position coordinates specified by a conventional coordinate specifying device and desired position coordinates.

FIG. 5 is an explanatory diagram showing an error correction accuracy of a conventional coordinate specifying device.

[Explanation of symbols]

 Reference Signs List 1 turntable 10 tilt axis 12a mounting surface 2 imaging device 20 imaging axis 4 tilt angle calculation unit 6 position coordinate calculation unit H height from reference plane to tilt axis L distance from imaging axis to tilt axis P reference plane θ tilt Angle φ Pan angle

Claims (2)

[Claims] 1. A turntable having a mounting surface attached to a tilt shaft capable of changing a tilt angle while being installed at a predetermined height position from a reference surface, a tilt angle calculating unit for calculating a tilt angle of the mounting surface, An imaging device attached to the mounting surface such that the tilt angle of the imaging axis matches the tilt angle of the mounting surface, and the height from the reference plane to the tilt axis and the distance from the tilt axis to the imaging axis are stored in advance. A set value storage unit, and intersects the imaging axis and the reference plane based on the height from the reference plane to the tilt axis, the distance from the tilt axis to the imaging axis, and the tilt angle obtained by the tilt angle calculation unit. What is claimed is: 1. A coordinate specifying device for specifying position coordinates, comprising: a position coordinate calculation unit having no error due to the existence of a distance between a tilt axis and an imaging axis. 2. The position coordinate calculation unit has a height H from the reference plane to the tilt axis, a distance L from the tilt axis to the imaging axis, and a plane distance from the turntable to the intersection of the imaging axis and the reference plane. 2. The coordinate specifying device according to claim 1, wherein when K is defined as K, the plane distance K is obtained as K = (H / tan θ) + (L / sin θ).