JPH10270179A - Coordinate identification device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To enable accurate identification of target position coordinates even with equipment with low accuracy. In a coordinate specifying device used for an automatic tracking illumination device that performs tracking illumination while capturing an irradiation target by an imaging device using image recognition, an imaging device for capturing an illumination target, and an imaging device for each imaging device. Turntable driving devices 4 and 5, which control the direction of the image pickup axis of each image pickup apparatus so as to capture the irradiation target M on the image pickup axes 2a and 3a and can acquire angle information in the image pickup axis direction; The storage unit 6 that stores the position coordinates of the device, the angle information in the imaging axis direction of each imaging device obtained from each turntable drive device, and the position coordinates of each turntable drive device stored in the storage unit are used. Linear processing unit 7 for specifying a straight line representing the imaging axis of each imaging device
And a coordinate processing unit 8 that approximates the irradiation target coordinates to one point on a line segment that is the shortest distance between the straight lines specified by the straight line processing unit.

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 used for automatic control, such as an automatic tracking lighting device for automatically illuminating a director or the like using image recognition in a banquet hall, a hall, a stage, or the like. .

[0002]

2. Description of the Related Art Conventionally, an automatic tracking illuminator that automatically illuminates a director or the like using image recognition uses a coordinate specifying device that can specify the position of an irradiation target in three-dimensional space coordinates. The coordinate identification device is used to capture the irradiation target.
It is configured to include an imaging device such as two television cameras, two turntable driving devices, and an arithmetic device. The imaging device is attached to the turntable drive. The turntable driving device controls the direction of the imaging device so as to always capture the irradiation target at the center of the angle of view (on the imaging axis) of the imaging device, and sets the current imaging direction of the imaging device, that is, the pan angle and the tilt angle of the imaging axis. Get and output.

[0003] The arithmetic unit calculates a straight line representing the imaging axis of each imaging device from the pan angle and the tilt angle output from each turntable driving device and the mounting position coordinates of each imaging device which are input to the storage unit in advance during construction. After the identification, the coordinates of the intersection of the straight lines are calculated to obtain the position coordinates of the irradiation target.

[0004]

However, in the conventional coordinate specifying device, it is necessary to intersect two straight lines. In addition to being bulky, accurate mounting position coordinates of the turntable driving device are required, so that it takes time and effort to perform the construction. In addition, when an imaging device or a turntable driving device is configured using general-purpose equipment for cost reduction, a shift occurs between an imaging axis of the imaging device and a tilt axis of the turntable driving device, and the imaging axis represents the imaging axis. There is a problem that the accuracy of specifying a straight line is deteriorated.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to form an image pickup apparatus and a turntable driving apparatus using general-purpose equipment of which accuracy is not so good. Another object of the present invention is to provide an inexpensive and practical coordinate specifying device that can accurately specify an irradiation target position without using much nerves for construction.

[0006]

According to the present invention, in order to solve the above-mentioned problems, a tracking illumination is performed while capturing an irradiation target by an image pickup device using image recognition. In a coordinate specifying device used for an automatic tracking illumination device or the like, a first imaging device for capturing an irradiation target,
Has a first pan axis and a first tilt axis orthogonal to each other at first axis point position coordinates on the imaging axis of the first imaging apparatus, and the first pan axis The first imaging device is rotationally driven with the rotation axis of the first tilt axis and the first tilt axis, respectively.
To capture the irradiation target on the imaging axis of the imaging device
A first turntable driving device capable of controlling an imaging axis direction of an imaging device and acquiring angle information of the imaging axis direction, a second imaging device for capturing an irradiation target, and a second imaging device. A second pan axis and a second tilt axis that are orthogonal to each other at a second axis point position coordinate on the imaging axis of the second imaging apparatus, and the second pan axis and the second tilt The second imaging device is rotationally driven with the respective axes as the rotation axes, and the direction of the imaging axis of the second imaging device is controlled so that the irradiation target is always captured on the imaging axis of the second imaging device. A second turntable driving device capable of acquiring angle information in the imaging axis direction, a storage unit for storing first axis point position coordinates and a second axis point position coordinate, respectively, Angle information of each imaging device in the direction of the imaging axis obtained from, and the coordinates of each axis point position stored in the storage unit A linear calculation processing device that specifies a straight line representing the imaging axis of each imaging device, and the irradiation target coordinates are approximated to one point on a line segment that is the shortest distance between the straight lines specified by the linear calculation processing device And a coordinate calculation processing device.

According to a second aspect of the present invention, there is provided a coordinate specifying device used in an automatic tracking illumination device for performing tracking illumination while capturing an irradiation target by an image pickup device using image recognition. The first imaging device and the first imaging device are attached, and a first pan axis that intersects the imaging axis of the first imaging device, and a first pan axis that is orthogonal to the first pan axis and that is The first imaging device is rotationally driven with the first tilt axis having the first shift distance with respect to the imaging axis as the rotation axis, and the irradiation target is captured on the imaging axis of the first imaging device. A first turntable drive device capable of controlling the imaging axis direction of the first imaging device so as to obtain angle information of the imaging axis direction, a second imaging device capturing an irradiation target,
A second imaging device is mounted, and a second pan axis that intersects the imaging axis of the second imaging device and a second pan axis that is orthogonal to the second pan axis and that is perpendicular to the imaging axis of the second imaging device. The second imaging device is rotationally driven with the second tilt axis having a displacement distance of 2 as the rotation axis, and the second imaging device is rotated to capture the irradiation target on the imaging axis of the second imaging device. A second control unit that controls the imaging axis direction of the imaging device and that can acquire angle information of the imaging axis direction.
, A first pan point orthogonal to the first pan axis and the first tilt axis, and a second pan axis and a second pan axis.
A storage unit for storing a second axis point position coordinate orthogonal to the tilt axis of the first, a first shift distance, and a second shift distance, and a first imaging obtained from the first turntable driving device Based on the angle information of the imaging axis direction of the apparatus, the first axis point position coordinates stored in the storage unit, and the first shift distance, the position coordinates through which the imaging axis of the first imaging apparatus passes are determined. 1 coordinate correction unit, angle information in the imaging axis direction of the second imaging device obtained from the second turntable driving device, and second axis point position coordinates stored in the storage unit and a second shift. Based on the distance and the second
A second coordinate correction unit for obtaining position coordinates passing through the imaging axis of the imaging device, angle information in the imaging axis direction of each imaging device obtained from each turntable driving device, and each position coordinate obtained by each coordinate correction unit And a straight line processing device that specifies a straight line representing the imaging axis of each imaging device, and the irradiation target coordinates are approximated to a point on a line segment that is the shortest distance between the straight lines specified by the straight line processing device. And a coordinate calculation processing device.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of a coordinate specifying device according to the present invention will be described with reference to FIGS. 1 to 5, and a second embodiment will be described with reference to FIGS. This will be described in detail.

[First Embodiment] The coordinate specifying apparatus according to the first embodiment corresponds to the coordinate specifying apparatus according to the first aspect. FIG. 1 is a block diagram illustrating an outline of a coordinate identifying device, FIG. 2 is a plan view illustrating the relationship between two imaging devices and an irradiation target, and FIG. 3 is a top view illustrating two imaging devices and an irradiation target. FIG. 4 is an explanatory diagram showing a process in the case where straight lines representing the imaging axes do not intersect, and FIG. 5 is a flowchart for explaining a process of the coordinate identifying device.

As shown in FIG. 1, a coordinate specifying device 1 includes a television camera 2 corresponding to a first imaging device, a television camera 3 corresponding to a second imaging device, and a first turntable driving device 4. , A second turntable driving device 5, a storage unit 6, a linear calculation processing device 7, and a coordinate calculation processing device 8. In FIG. 1, A indicates a spotlight lamp unit, B indicates an illumination turntable driving device, and M indicates an irradiation target such as a director.

The television camera 2 is attached to the turntable driving device 4. The television camera 2 captures an image of the imaging axis 2a at the center of the angle of view, and outputs the captured video as a video signal. The turntable driving device 4 recognizes the moving irradiation target M by using a known technique such as performing image processing on a video signal output from the television camera 2 and always keeps the irradiation target M at the center of the angle of view (on the imaging axis). The rotation of the television camera 2 is controlled so as to be positioned. Then, the turntable driving device 4 moves the imaging axis 2a when the irradiation target M is located at the center of the angle of view of the imaging apparatus 2 (on the imaging axis 2a).
Of the pan angle θ ₁ and the tilt angle φ _{1 of the}
Output to

The television camera 3 is attached to the turntable driving device 5. The television camera 3 captures an image with the imaging axis 3a at the center of the angle of view, and outputs the captured video as a video signal. The turntable driving device 5 recognizes the moving irradiation target M by using a known technique such as performing image processing on a video signal output from the television camera 3 and always moves the irradiation target M to the center of the angle of view (on the imaging axis). The television camera 3 is controlled to rotate so as to be positioned.
Then, the turntable driving device 5 performs a linear calculation process on the pan angle θ ₂ and the tilt angle φ ₂ of the imaging axis 3a when the irradiation target M is positioned at the center of the angle of view (on the imaging axis 3a) of the imaging apparatus 3. Output to the device 7.

The storage unit 6 stores a first axis point position coordinate P₁(X
_1,y_1,z₁) And the second axis point position coordinate P_Two(X_2,y
_2,z_Two). First axis point position coordinates P
₁(X_1,y_1,z ₁) And the second axis point position coordinate P_Two(X_2,y
_2,z_Two) Means to enter each time of adjustment at the time of construction
is there.

First axis point position coordinates P₁(X_1,y_1,z₁)
Is the pan axis P of the turntable drive 4._p1And tilt axis P_t1With
These are orthogonal position coordinates. TV camera 2 is a TV camera
The imaging axis 2a of the camera 2 is always the first axis point position coordinate P₁(X
_1,y_1,z₁), Attached to the turntable drive 4
ing. Also, the second axis point position coordinates P_Two(X_2,y
_2,z _Two) Indicates the pan axis P of the turntable driving device 5._p2And tilt axis
P_t2Are orthogonal position coordinates. TV camera 3
The imaging axis 3a of the television camera 3 is always the second axis point position coordinate
P_Two(X_2,y_2,z_Two) So that the turntable driving device 5
It is attached to.

The linear operation processing device 7 includes the turntable driving device 4
Output from the pan angle θ ₁ and the tilt angle φ ₁ and the storage unit 6
Based on the first axis point location coordinates P ₁ storing (x _1, y _1, z ₁₎ of, as well as identifying straight line representing the imaging axis 2a of the television camera 2, and outputs the turntable drive device 5 The pan angle θ ₂ and the tilt angle φ _2, and the second
Based on the axial point position coordinate _{P 2 (x 2, y 2} , z 2), specifying the straight line representing the imaging axis 3a of the television camera 3.

Here, each of the pan angle θ and the tilt angle φ is based on the direction of the y-coordinate axis, and as for the pan angle θ, the right rotation in a plan view as shown in FIG.
As shown in FIG. 3, when the downward angle when viewed from the side at the tilt angle φ is positive, the direction cosine (i _1, j _1, k ₁ ) of the straight line representing the imaging axis 2 a of the television camera 2 and the television camera 3, the direction cosine of a straight line representing the imaging axis 3a (i _2, j _2,
k ₂ ) is given by Equation 1, respectively. However, in Equation 1, the subscript n corresponds to each of the television cameras 2 and 3.

[0017]

(Equation 1)

[0018] Therefore, the linear processing unit 7, since the direction cosine given by equation 1, the first axis point location coordinates P ₁ storing in the storage unit _{6 (x 1, y 1,} z 1), TV camera 2
Is specified as Equation 2. Here, t is a parameter representing a straight line.

[0019]

(Equation 2)

Further, the linear processing unit 7, since the direction cosine given by Equation 1, and the second axis point coordinates P ₂ for storing in the storage unit _{6 (x 2, y 2,} z 2), A straight line representing the imaging axis 3a of the television camera 3 is specified as Expression 3. However,
r is a parameter representing a straight line.

[0021]

(Equation 3)

Next, referring to FIG.
Will be described. The coordinate calculation processing device 8 is a television camera.
Equation 2, which is a straight line expression representing the imaging axis 2a of the camera 2,
Equation 3, which is a straight line expression representing the imaging axis 3a of the bi-camera 3,
Position on each straight line where each straight line is the shortest based on
Position coordinates P_a(X_a,y_a,z_a) And position coordinates P_b(X_b,y _b,
z_b).

By the way, since the straight line representing the imaging axis 2a of the television camera 2 passes through the position coordinates P _a (x _a, ya _a, z _a ) _{, the} equation 4 is established.

[0024]

(Equation 4)

Further, since the straight line representing the imaging axis 3a of the television camera 3 passes through the position coordinates P _b (x _b, y _b, z _b ) _, Equation 5 is established.

[0026]

(Equation 5)

Furthermore, the straight line connecting the position coordinates _{P a (x a, y a} , z a) and the position coordinate _{P b (x b, y b} , z b) and the straight line representing the imaging axis 2a of the television camera 2 Is orthogonal to the straight line representing the imaging axis 3a of the television camera 3, so that Equation 6 holds.

[0028]

(Equation 6)

Therefore _, when the relationship between Equations 4 and 5 is substituted into Equation 6 and rearranged, Equation 7 holds, and the parameters t _{1 and} r ₁ can be solved as Equation 8.

[0030]

(Equation 7)

[0031]

(Equation 8)

That is, as shown in Expression 8, the parameter t _1,
Each of r ₁ is given as a known one, and the position coordinates P _a (x _a, ya _, z _a ) and the position coordinates P _b (x _b, y _b,
z _b ) can be specified as known.

Therefore, the coordinate calculation processing device 8 calculates the position coordinates
P_a(X_a,y_a,z_a) And position coordinates P _b(X_b,y_b,z_b)
Can be specified, and usually the position coordinates P
_a(X_a,y_a,z_a) And position coordinates P_b(X_b,y_b,z_b)When
Is calculated and the midpoint of the irradiation target M is calculated.
Estimate as position coordinates. Then, the coordinate calculation processing device 8
Calculates the position coordinates of the irradiation target M calculated and calculated
Output to the driving device B. Then, the lighting turntable driving device B
Rotates the spotlight lamp unit A to illuminate the irradiation direction.
Point toward shooting target M.

The operation of the coordinate identifying apparatus 1 will be described below with reference to the flowchart of FIG. That is, the turntable driving devices 4 and 5 rotate the television cameras 2 and 3 so that the imaging axes 2a and 3a of the television cameras 2 and 3 face the irradiation target M (steps 100 and 101).
Thereafter, the turntable driving devices 4 and 5 are connected to the television cameras 2 and 3
When the imaging axes 2a and 3a of the television camera 2 face the irradiation target M, the pan angle θ ₁ and the tilt angle φ ₁ of the imaging axis 2a of the television camera ₂ and the pan angle θ ₂ and the tilt angle of the imaging axis 3a of the television camera 3 The angle φ ₂ is output to the straight line processing unit 7 (steps 102 and 103).

The linear operation processing device 7 includes the turntable driving device 4
And the pan angle θ ₁ and the tilt angle φ ₁ of the imaging axis 2 a of the television camera 2 output from the camera, and the pan angle θ ₂ and the tilt angle φ of the imaging axis 3 a of the television camera 3 output from the turntable driving device 5.
From ₂ which includes an imaging axis 2a, calculates the respective direction cosine of 3a (step 104, 105), a first axis point read from the storage unit 6 position coordinate P ₁ (x _1, y _1, z ₁₎ based on the second axis point position coordinate _{P 2 (x 2, y 2} , z 2),
A straight line representing the imaging axis 2a of the television camera 2 and a straight line representing the imaging axis 3a of the television camera 3 are specified (steps 106 and 107).

The coordinate arithmetic processing unit 8 is expressed by Equation 2 which is a straight line equation representing the imaging axis 2a of the television camera 2 and a straight line equation representing the imaging axis 3a of the television camera 3 specified by the straight line arithmetic processing unit 7. Based on Equation 3, position coordinates P _a (x _a, ya _, z _a ) on each straight line where each straight line becomes the shortest
And the position coordinates P _b (x _b, y _b, z _b ) are calculated (step 108), and then one point on the shortest distance line segment is approximated as the position of the irradiation target M (step 109). .

[Second Embodiment] The coordinate specifying apparatus according to the second embodiment corresponds to the coordinate specifying apparatus according to the second aspect. FIG. 6 is a block diagram illustrating an outline of the coordinate specifying device, FIG. 7 is a side view illustrating a relationship between two imaging devices and irradiation targets, and FIG. 8 is a flowchart illustrating processing of the coordinate specifying device. In FIGS. 6 and 7, the same reference numerals are given to the same portions as those of the coordinate specifying device according to the first embodiment, and the detailed description is omitted.

This coordinate specifying device is the same as the first embodiment.
Unlike the coordinate identification device of the state, the feature is that the TV camera
Coordinates are specified as the drive units 2 and 3 and the turntable drive units 4 and 5.
In order to use general-purpose ones instead of dedicated ones,
The imaging axis 2a of the television camera 2 is a pan of the turntable driving device 4.
Axis P_p1, The imaging axis 3a of the TV camera 3 is a turntable
Pan axis P of drive device 5_p2, But the turntable drive
4 and 5 tilt axes P _t1, P_t2Distance S between₁,
S_TwoOccurs, the shift distance S₁, S_TwoCorrection accompanying
Coordinate correction unit 71 and second coordinate correction unit 7 for performing
2 is provided.

In the coordinate specifying device 1 shown in FIG. 6, a first coordinate correction unit 71 and a second coordinate correction unit 72 are provided inside the straight line processing unit 7.

The linear operation processing device 7 includes the turntable driving device 4
Output pan angle θ₁And tilt angle φ₁And the storage unit 6
Distance S stored in₁And the first axis point position coordinate P₁
(X _1,y_1,z₁), The imaging of the television camera 2 based on
A straight line representing the axis 2a is specified, and
Output pan angle θ_TwoAnd tilt angle φ_TwoAnd memory
Offset distance S stored by the unit 6_TwoAnd second axis point position coordinates
P_Two(X_2,y_2,z_Two), Based on the TV camera 3
A straight line representing the imaging axis 3a is specified.

Here, as in the case of the first embodiment,
Each of the pan angle θ and the tilt angle φ is based on the direction of the y-coordinate axis, and as for the pan angle θ, the clockwise direction when viewed in plan as shown in FIG. when exactly the downward when seen from the side, as shown in FIG. 3, the television straight direction cosines representing the imaging axis 2a of the camera _{2 (i 1, j 1,} k 1) and the imaging axis 3a of the television camera 3
Straight direction cosine _{(i 2, j 2, k} 2) representing a, as in the first embodiment are given respectively by equation (1).
However, in the expression 1, the subscript n is used for each TV camera 2,
Corresponds to 3.

Therefore, the straight-line arithmetic processing unit 7 firstly causes the first coordinate correction unit 71 to output the tilt angle φ ₁ output from the turntable drive unit 4, the shift distance S ₁ stored in the storage unit 6, from the first axis point location coordinates _{P 1 (x 1, y 1} , z 1), the position coordinate P ₁₀ (x 1 intersects with the pan axis P _p1 of the turntable drive device 4 and the imaging axis 2a of the television camera _2, y _1, z ₁₀ ) is calculated using Equation 9, and the second coordinate correction unit 72 calculates
The tilt angle φ ₂ output from the turntable driving device 5 and the storage unit 6
Distance S ₂ and second axis point position coordinate P ₂ stored in
Since _{(x 2, y 2, z} 2) and an imaging axis 3a of the television camera 3
Coordinates P where the axis intersects the pan axis P _p2 of the turntable driving device 5
₂₀ The number 9 _{(x 2, y 2, z} 20) calculates I following.

[0043]

(Equation 9)

Next, the straight-line processing unit 7 calculates the direction cosine given by the equation ₁ and the position coordinates P ₁₀ (x _1, y _1, z ₁₀ ) calculated by the first coordinate correcting unit 71. , A straight line representing the imaging axis 2a of the television camera 2 is specified as Expression 10.
Here, t is a parameter representing a straight line.

[0045]

(Equation 10)

[0046] Also, the linear processing unit 7, the direction cosine given by equation 1, since the calculated position coordinates _{P 20 (x 2, y 2} , z 20) in the second coordinate correcting unit 72, A straight line representing the imaging axis 3a of the television camera 3 is specified as Expression 11.
Here, r is a parameter representing a straight line.

[0047]

[Equation 11]

Next, the coordinate operation processing device 8
Equation 10 which is a straight line expression representing the imaging axis 2a of the camera 2,
Equation 1 which is an equation of a straight line representing the imaging axis 3a of the Levi camera 3
On each straight line where each straight line becomes the shortest based on 1
Position coordinates P_a(X_a,y_a,z _a) And position coordinates P_b(X_b,
y_b,z_b) To calculate
Can be identified. The calculation method is the same as in the first embodiment described above.
Is exactly the same as in the case of
I do.

Therefore, the coordinate calculation processing device 8 calculates the position coordinates
P_a(X_a,y_a,z_a) And position coordinates P _b(X_b,y_b,z_b)
Can be specified, and usually the position coordinates P
_a(X_a,y_a,z_a) And position coordinates P_b(X_b,y_b,z_b)When
Is calculated and the midpoint of the irradiation target M is calculated.
Estimate as position coordinates. Then, the coordinate calculation processing device 8
Calculates the position coordinates of the irradiation target M calculated and calculated
Output to the driving device B. Then, the lighting turntable driving device B
Rotates the spotlight lamp unit A to illuminate the irradiation direction.
Point toward shooting target M.

The operation of the coordinate identifying apparatus 1 will be described below with reference to the flowchart of FIG. That is, the turntable driving devices 4 and 5 rotate the television cameras 2 and 3 so that the imaging axes 2a and 3a of the television cameras 2 and 3 face the irradiation target M (steps 200 and 201).
Thereafter, the turntable driving devices 4 and 5 are connected to the television cameras 2 and 3
When the imaging axes 2a and 3a of the television camera 2 face the irradiation target M, the pan angle θ ₁ and the tilt angle φ ₁ of the imaging axis 2a of the television camera ₂ and the pan angle θ ₂ and the tilt angle of the imaging axis 3a of the television camera 3 The angle φ ₂ is output to the straight line processing device 7 (steps 202 and 203).

First, the straight-line processing unit 7 uses the first coordinate correction unit 71 to set the tilt angle φ ₁ output from the turntable drive unit 4, the shift distance S ₁ stored in the storage unit 6, and the first From the axis point position coordinates P ₁ (x _1, y _1, z ₁ ), position coordinates P ₁₀ (x _1, y _1, x) at which the imaging axis 2a of the television camera 2 intersects the pan axis P _p1 of the turntable drive 4 z ₁₀ ) is calculated (step 204), and the tilt angle φ ₂ output by the turntable driving device 5, the displacement distance S ₂ stored in the storage unit 6, and the second Axis point position coordinates P ₂ (x
_2, y _2, z ₂ ), P ₂₀ (x _2, y _2, z) at which the imaging axis 3a of the television camera 3 intersects the pan axis P _p2 of the turntable driving device 5
₂₀ ) is calculated (step 205).

Thereafter, the linear arithmetic processing unit 7 outputs the pan angle θ ₁ and the tilt angle φ ₁ of the imaging axis 2 a of the television camera 2 output from the turntable driving device 4 and the television camera 3 output from the turntable driving device 5. The cosine of each direction of the imaging axes 2a and 3a is calculated from the pan angle θ ₂ and the tilt angle φ ₂ of the imaging axis 3a (steps 206 and 207). Then, the straight line arithmetic processing unit 7 calculates the calculated cosine of each direction and the coordinate correction unit 7.
Position coordinates P ₁₀ (x _1, y _1, z ₁₀ ), P calculated at _1, 72
₂₀ based on the (x _2, y _2, z ₂₀₎ and, respectively to identify a straight line representing the imaging axis 3a of the linear and the television camera 3 which represents the imaging axis 2a of the television camera 2 (step 208,2
09).

The coordinate arithmetic processing unit 8 is expressed by the equation (10), which is a straight line representing the imaging axis 2a of the television camera 2, specified by the straight line arithmetic processing unit 7, and the equation of a straight line representing the imaging axis 3a of the television camera 3. Based on Equation 11, the position coordinates P _a (x _a, ya _a, z) on each straight line where each straight line becomes the shortest
_a ) and the position coordinates P _b (x _b, y _b, z _b ) are calculated (step 210), and one point on the shortest distance line segment is approximated as the position of the irradiation target M (step 210). 211).

[0054]

According to the first aspect of the present invention, the position coordinates of the irradiation target can be specified as an approximate solution even when two straight lines representing the imaging axis do not have strict intersections. An inexpensive, practical, and excellent coordinate specifying device that can accurately specify the irradiation target position without using an imaging device or turntable driving device with a not so good accuracy, and without using much nerves for construction. It has the effect that it can be provided _.

According to the second aspect of the present invention, the imaging device and the turntable driving device are not special, and even if a general-purpose device is used, the irradiation target position can be specified.
Further, there is an effect that an inexpensive, practical, and excellent coordinate specifying device can be provided _.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an outline of a coordinate specifying device according to a first embodiment of the present invention.

FIG. 2 is a plan view illustrating a relationship between two imaging devices of the coordinate identification device and an irradiation target as viewed from above.

FIG. 3 is a side view illustrating a relationship between two imaging devices of the coordinate identification device and an irradiation target.

FIG. 4 is an explanatory diagram showing processing when a straight line representing an imaging axis of the coordinate identifying device does not intersect.

FIG. 5 is a flowchart illustrating a process of the coordinate specifying device.

FIG. 6 is a block diagram illustrating an outline of a coordinate specifying device according to a second embodiment of the present invention.

FIG. 7 is a side view illustrating a relationship between two imaging devices of the coordinate identification device and an irradiation target.

FIG. 8 is a flowchart illustrating a process of the coordinate specifying device.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 coordinate specifying device 2 first imaging device 2a imaging axis of first imaging device 3 second imaging device 3a imaging axis of second imaging device 4 first turntable drive device 5 second turntable drive device 6 Storage unit 7 Linear calculation processing device 8 Coordinate calculation processing device M Irradiation target P ₁ First axis point position coordinate P ₂ Second axis point position coordinate P _p1 First pan axis P _p2 Second pan axis P _t1 First tilt axis _Pt2 Second tilt axis S1 _First shift distance S2 _Second shift distance

Claims (2)

[Claims] 1. A coordinate specifying device used for an automatic tracking illumination device or the like that performs tracking illumination while capturing an irradiation target by an imaging device using image recognition, wherein: a first imaging device that captures an illumination target; An image pickup device is attached, and a first pan axis orthogonal to a first axis point position coordinate on an image pickup axis of the first image pickup device and a first pan axis.
And the first imaging device is rotationally driven with the first pan axis and the first tilt axis as rotating axes, respectively.
A first turntable driving device capable of controlling an imaging axis direction of the first imaging device so as to capture an irradiation target on an imaging axis of the first imaging device and acquiring angle information of the imaging axis direction; A second imaging device for capturing an irradiation target, a second imaging device attached, and a second pan axis orthogonal to a second axis point position coordinate on an imaging axis of the second imaging device. 2
And the second imaging device is rotationally driven with the second pan axis and the second tilt axis as the rotation axes, respectively.
A second turntable driving device capable of controlling an imaging axis direction of the second imaging device so as to always capture an irradiation target on an imaging axis of the second imaging device and acquiring angle information of the imaging axis direction; A storage unit that stores the first axis point position coordinates and the second axis point position coordinates, angle information in the imaging axis direction of each imaging device obtained from each turntable drive device, and storage in the storage unit. A straight line processing unit that specifies a straight line representing the imaging axis of each imaging device using the coordinate values of each axis point that has been set, and a line segment that is the shortest distance between the straight lines specified by the straight line processing unit A coordinate calculation device for approximating the irradiation target coordinates at one point. 2. A coordinate specifying device used in an automatic tracking illumination device or the like that performs tracking illumination while capturing an irradiation target by an imaging device using image recognition, wherein: a first imaging device that captures an irradiation target; A first pan axis intersecting the imaging axis of the first imaging apparatus with the imaging apparatus attached thereto, and a first shift perpendicular to the first pan axis and with respect to the imaging axis of the first imaging apparatus. The first imaging device is rotationally driven with the first tilt axis having a distance and the first tilt axis as the respective rotation axes, and the first imaging device is rotated so as to capture the irradiation target on the imaging axis of the first imaging device. A first type capable of controlling the imaging axis direction and acquiring angle information of the imaging axis direction.
A turntable driving device, a second imaging device for capturing an irradiation target, a second pan axis which is attached to the second imaging device and intersects the imaging axis of the second imaging device, The second imaging device is rotationally driven with a second tilt axis that is orthogonal to the pan axis and has a second shift distance with respect to the imaging axis of the second imaging device as a rotation axis, and the second imaging device is rotated. A second imaging device that controls the imaging axis direction of the second imaging device so as to capture the irradiation target on the imaging axis of the second imaging device, and obtains angle information in the imaging axis direction.
A rotary table driving device, a first axis point position coordinate orthogonal to the first pan axis and the first tilt axis, and a second axis orthogonal to the second pan axis and the second tilt axis A storage unit that stores the point position coordinates, the first shift distance, and the second shift distance; and angular information of the first imaging device in the imaging axis direction obtained from the first turntable driving device; A first coordinate correction unit for obtaining position coordinates through which the imaging axis of the first imaging device passes based on the first axis point position coordinates and the first shift distance stored in the unit, and a second rotation A second imaging device based on angle information in the imaging axis direction of the second imaging device obtained from the table drive device, and second axis point position coordinates and a second shift distance stored in the storage unit; A second coordinate correction unit for obtaining position coordinates through which the imaging axis passes, and an imaging axis of each imaging device obtained from each of the turntable driving devices. A straight line processing unit that specifies a straight line representing the imaging axis of each imaging device using the angle information of the direction and each position coordinate obtained by each coordinate correction unit, and between each straight line specified by the straight line processing unit. A coordinate calculation device for approximating an irradiation target coordinate to one point on a line segment having the shortest distance.