JP2006276743A - Imaging range regulation system, solid-state imaging apparatus, regulation device and imaging range regulation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simplify the regulation work of displacement generated between each image of a solid-state imaging apparatus. <P>SOLUTION: The solid-state imaging apparatus is provided with two imaging parts. A solid-state imaging part faces a chart, in which a cross mark 200 is drawn and is fixed to a regulation stage. The cross mark 200, reflected in right eye image data 210, is transferred to a position of (-Xs, 0) on a segmentation area 212 by driving a regulation stage. An image recognition part of a regulation device recognizes the cross mark 200 from left eye image data 220 and acquires the amounts of displacement X1, Y1 between the center 200a of the cross mark 200 and a position of (Xs, 0) in segmentation area 222. The amounts of displacement X1, Y1 are inputted to a segmentation calculating part. The segmentation calculating part updates the segmentation position data stored in a flash memory of the solid-state imaging apparatus, based on the inputted amount of displacement and overwrites it in the flash memory. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a stereoscopic imaging device that acquires a plurality of images with parallax by a plurality of imaging units, an imaging range adjustment system that adjusts the imaging range of the plurality of imaging units, an adjustment device, and an imaging range adjustment method.

  A stereoscopic imaging apparatus that acquires two images with parallax by arranging two imaging units including a solid-state imaging device such as a CCD in parallel is known, for example, in Patent Document 1. A subject reflected in both images with parallax can be analyzed three-dimensionally by a so-called stereo method. For this reason, in recent years, stereoscopic imaging apparatuses have begun to be used for biometric authentication (biometrics) cameras that specify shapes such as faces, and surveillance cameras that accurately grasp the number of people who have entered a surveillance area.

Although it is desirable that the two images captured by the stereoscopic imaging device have no positional deviation other than the parallax, in practice, the deviation occurs within the range of mechanical attachment accuracy. Therefore, in the stereoscopic imaging device described in Patent Document 1, the circuit board on which the CCD or the like is attached is supported by three adjustment screws, and the inclination of the circuit board is displaced according to the amount of insertion, thereby correcting the positional deviation. I am doing so.
JP 2001-242521 A

  However, there is a problem that it takes a lot of time and effort to confirm and adjust each image while changing the screw insertion amount little by little. In particular, in stereoscopic imaging devices used as authentication cameras and surveillance cameras, there is a concern that positional displacement may occur during transportation, so adjustments should be made immediately before installation in a predetermined installation location such as in another device or indoors. Is preferred. In order to simplify the mounting work, there has been a strong demand for more easily adjusting the positional deviation between the images.

  The present invention has been made in view of the above problems, and an object of the present invention is to simplify the adjustment work when adjusting a positional shift that occurs between images of a stereoscopic imaging device.

  In order to achieve the above object, an imaging range adjustment system of the present invention includes a plurality of imaging units each including an imaging lens and an imaging element, a casing that holds the imaging units side by side at a predetermined interval, An image cutout portion that cuts out a portion corresponding to a cutout area determined in advance for each effective pixel area of the image sensor from each effective pixel area, and a cutout that represents the position of each cutout area on the effective pixel area. A stereoscopic imaging device including a non-volatile memory for storing outgoing position data, a chart on which an adjustment image for adjusting an imaging range of each imaging unit is drawn, each imaging unit, and the adjustment image; A fixing unit that fixes the stereoscopic imaging device in a state of facing, a position adjustment mechanism that moves the fixed stereoscopic imaging device up and down, left and right, and rotates about the direction facing the adjustment image; The adjustment stage, a communication unit that enables mutual communication with the stereoscopic imaging device, and the adjustment stage, so that any one of the imaging units is viewed from the center position of each cut-out area. When the appropriate position shifted by the difference is matched with the reference position of the adjustment image, the adjustment image is recognized from each effective pixel area imaged in that state, and each of the adjustment images is recognized. An image recognition unit that obtains reference position data representing an amount of deviation from an appropriate position to the reference position, and based on each reference position data, each of the cutouts so that the appropriate position matches the reference position. It is comprised from the adjustment apparatus provided with the cut-out calculating part which updates position data and overwrites each updated said cut-out position data on the said non-volatile memory, It is characterized by the above-mentioned.

  The stereoscopic imaging apparatus includes a rotation angle adjustment mechanism that adjusts a rotation angle around the optical axis of each imaging element, and the adjustment stage includes a driving unit that drives each rotation angle adjustment mechanism. It is preferable.

  In addition, the stereoscopic imaging device of the present invention includes a plurality of imaging units each including an imaging lens and an imaging device, a casing that holds the imaging units side by side at a predetermined interval, and an effective pixel area of each imaging device. An image cutout unit that cuts out a portion corresponding to a predetermined cutout area every time from each effective pixel area, and cutout position data that represents the position of each cutout area on the effective pixel area is stored. And a non-volatile memory.

  According to another aspect of the present invention, there is provided an adjusting device for communicating with the stereoscopic imaging device according to claim 3 and an adjustment image for adjusting the imaging range of each imaging unit by the stereoscopic imaging device. When the chart on which the image is drawn is imaged, the adjustment image is recognized from each effective pixel area, and the adjustment image is shifted from an appropriate position shifted by the amount of parallax of each imaging unit from the center position of the cutout area. Reference position data representing the amount of deviation from the reference position of the image corresponding to each of the imaging units, and the appropriate position and the reference position based on the reference position data Each of the cutout position data is updated so as to match each other, and a cutout calculation unit for overwriting the updated cutout position data in the nonvolatile memory is provided.

  Furthermore, the imaging range adjustment method of the present invention includes a plurality of imaging units each including an imaging lens and an imaging device, a casing that holds the imaging units in a line with a predetermined interval, and an effective pixel of each imaging device. An image cutout unit that cuts out a portion corresponding to a cutout area determined in advance for each area from each effective pixel area, and cutout position data that represents the position of each cutout area on the effective pixel area is stored. A stereoscopic imaging device including a non-volatile memory that moves up and down, left and right in a state of facing a chart on which an adjustment image for adjusting the imaging range of each imaging unit is drawn. It is fixed to an adjustment stage that rotates about the facing direction as an axis, and the stereoscopic imaging device is moved or rotated on this adjustment stage, so that only the amount of parallax of each imaging unit from the center position of each extraction area Align any one of the image pickup units so that the adjusted proper position matches the reference position of the adjustment image, and recognize the adjustment image from each effective pixel area imaged in that state. The reference position data representing the amount of deviation from each appropriate position to the reference position is acquired, and each cut-out is performed based on the reference position data so that the appropriate position matches the reference position. The position data is updated, and the updated cut-out position data is overwritten in the nonvolatile memory.

  In the present invention, any one of the image pickup units is aligned so that the appropriate position shifted by the amount of parallax of each image pickup unit from the center position of each cut-out area matches the reference position of the image for adjustment. Recognize the adjustment image from each captured effective pixel area, acquire reference position data representing the amount of deviation from each appropriate position to the reference position, and based on each reference position data, the appropriate position and reference Each cut-out position data is updated so that the position matches, and the updated cut-out position data is overwritten in the nonvolatile memory. When a portion corresponding to each cut-out area is cut out from each effective pixel area based on the updated cut-out position data, position shift other than the parallax is removed from the cut-out portion. The update of each cut-out position data is automatically performed by the image recognition unit and the cut-out calculation unit based on the captured image data, so that adjustment is made while changing the screw insertion amount little by little. In comparison, the adjustment work can be greatly simplified.

  FIG. 1 is a configuration diagram of an imaging range adjustment system that adjusts imaging ranges of two imaging units provided in a stereoscopic imaging device. The imaging range adjustment system 2 includes a stereoscopic imaging device 3 that is an adjustment target, an adjustment stage 4 that finely adjusts the position of the stereoscopic imaging device 3 during adjustment, a chart 5 that is an imaging target during adjustment, an adjustment stage 4 and a chart. 5 includes a mounting plate 6 that is mounted in a face-to-face relationship, and an adjustment device 7 that drives the stereoscopic imaging device 3 and the adjustment stage 4 via communication cables 8 and 9, respectively. A cross mark (adjustment image) 200 is drawn on the chart 5, the center of the cross mark 200 coincides with the center of the stereoscopic imaging device 3, and the surface of the chart 5 and the front surface of the stereoscopic imaging device 3 are The positions are aligned so that they face each other. The operator controls the stereoscopic imaging device 3 and the adjustment stage 4 via the adjusting device 7 and adjusts the imaging range of each imaging unit by photographing the cross mark 200 with the stereoscopic imaging device 3. The adjustment stage 4 moves the attached stereoscopic imaging unit 3 in the X and Y directions and rotates it in the θ direction with the center line CL as an axis so that the cross mark 200 is reflected at an appropriate position in the imaging range. .

  For the communication cable 8 that connects the stereoscopic imaging device 3 and the adjustment device 7, for example, USB or IEEE1394 is used. The communication cable 8 enables mutual communication between the stereoscopic imaging device 3 and the adjustment device 7 and supplies power from the adjustment device 7 to the stereoscopic imaging device 3 (so-called bus power). The communication cable 9 that connects the adjustment stage 4 and the adjustment device 7 is a general conductive wire, and transmits a drive signal from the adjustment device 7 to each of a plurality of motors provided in the adjustment stage 4.

  FIG. 2 is an external perspective view of the stereoscopic imaging device 3. The stereoscopic imaging device 3 includes a first imaging unit 10, a second imaging unit 11, and a housing 12 that houses the imaging units 10 and 11. The first imaging unit 10 includes a first imaging lens 13 and a first lens barrel 14 that holds the first imaging lens 13. Similarly to the first imaging unit 10, the second imaging unit 11 includes a second imaging lens 15 and a second lens barrel 16 that holds the second imaging lens 15. The housing 12 includes a frame 17 to which the imaging units 10 and 11 are fixed, and a case 18 that protects the imaging units 10 and 11. An opening 17a for exposing the imaging units 10 and 11 and a screw hole 17b for attaching the stereoscopic imaging device 3 to a dedicated bracket, stay, and other devices are formed on the front surface of the frame 17. Yes. The case 18 is formed with an opening 18 a serving as an access window for connecting the internal mechanism of the stereoscopic imaging device 3 and the adjustment stage 4 when the stereoscopic imaging device 3 is attached to the adjustment stage 4.

  FIG. 3 is a block diagram illustrating an electrical configuration of the stereoscopic imaging device 3. The first imaging unit 10 includes a first lens barrel 14, a first focus motor 21, a first motor driver 22, a first CCD (imaging device) 23, a first timing generator 24, a first CDS 25, a first AMP 26, and a first A / A. The D converter 27 is used.

  In the first lens barrel 14, a zoom lens 13a, a focus lens 13b, a diaphragm 13c, and the like are incorporated as the first imaging lens 13. The forward / backward movement of the zoom lens 13 a of the first lens barrel 14 and the focus lens 13 b in the optical axis direction is performed by driving the first focus motor 21. The first focus motor 21 is connected to a first motor driver 22, and the first motor driver 22 is connected to a CPU 40 that performs overall control of the stereoscopic imaging device 3. The CPU 40 drives the first focus motor 21 by controlling the first motor driver 22.

  A first CCD 23 is disposed behind the first imaging lens 13. The first imaging lens 13 forms a subject image on the light receiving surface of the first CCD 23. The first CCD 23 is connected to the CPU 40 via the first timing generator 24, and the CPU 40 controls the first timing generator 24 to generate a timing signal (clock pulse). The first CCD 23 is driven when this timing signal is input.

  The first CCD 23 converts the subject image into an electrical signal by photoelectric conversion, and transmits this image signal to the first CDS 25 which is a correlated double sampling circuit. The first CDS 25 acquires an image signal from the first CCD 23 and outputs it as R, G, and B image data that accurately corresponds to the accumulated charge amount of each cell of the first CCD 23. The image data output from the first CDS 25 is amplified by the first AMP 26 and further converted into digital data by the first A / D converter 27. The digitized image data is output from the first A / D converter 27 to the image input controller 41 as right eye image data.

  The second imaging unit 11 has the same configuration as that of the first imaging unit 10, and includes a second lens barrel 16, a second focus motor 31, a second motor driver 32, a second CCD (imaging device) 33, and a second timing generator. 34, a second CDS 35, a second AMP 36, and a second A / D converter 37. Further, the second lens barrel 16 incorporates a zoom lens 15a, a focus lens 15b, a diaphragm 15c, and the like as the second imaging lens 15. Similar to the first A / D converter 27, the second A / D converter 37 outputs the left eye image data to the image input controller 41.

  The image input controller 41 is connected to the CPU 40 via the data bus 42, and each CCD 23, 33, each CDS 25, 35, each AMP 26, 36, and each A / D converter 27, 37 in accordance with a control command from the CPU 40. To control. The CPU 40 controls the image input controller 41 to temporarily store each image data in a predetermined area of the system memory 43.

  The system memory 43 includes a ROM, a RAM, and the like, stores various programs for controlling the stereoscopic imaging device 3 and setting information, and temporarily stores programs read by the CPU 40 and acquired image data. Functions as a buffer to store.

  An AF detection circuit 44 and an AE / AWB detection circuit 45 are connected to the CPU 40 via a data bus 42. The CPU 40 controls the AF detection circuit 44 to adjust the focus of the focus lenses 13 b and 15 b of the first imaging lens 13 and the second imaging lens 15 based on the image data acquired by the imaging units 10 and 11. Detects the AF detection value that is optimal for imaging, and controls the first and second motor drivers 22 and 32 based on the AF detection value to move the focus lenses 13b and 15b to the optimal positions. Further, the CPU 40 controls the AE / AWB detection circuit 45 to detect an AE / AWB detection value at which exposure adjustment and white balance correction are optimal for shooting based on the image data acquired by the imaging units 10 and 11. Based on this AE / AWB detection value, the apertures 13c and 15c and the CCDs 23 and 33 are controlled so that the exposure amount and the white balance correction are optimized.

  In addition, an image signal processing circuit (image cutout unit) 46 and a flash memory (nonvolatile memory) 47 are connected to the CPU 40 via a data bus 42. The image signal processing circuit 46 reads each image data from the system memory 43, performs various image processing such as gradation conversion, white balance processing, and gamma correction processing, and stores the image data in the system memory 43 again. To do. Further, as shown in FIG. 4, the image signal processing circuit 46 has only portions corresponding to predetermined cut-out areas 212 and 222 from the respective image data 210 and 220 that are effective pixel areas of the CCDs 23 and 33. The cutting process to cut out the file is performed. Note that, after the stereoscopic imaging device 3 is attached to another device, a room, or the like, only the part cut out by this cutting process is transmitted to the external device as the imaging range of the stereoscopic imaging device 3. Hereinafter, in this specification, a portion corresponding to each of the cutout areas 212 and 222 is referred to as an imaging range of each of the imaging units 10 and 11.

  The flash memory 47 stores cut position data representing the positions of the cut areas 212 and 222 on the image data 210 and 220. The image signal processing circuit 46 combines the cutout areas 212 and 222 based on the cutout position data, and performs the cutout process described above. In the initial state, the cut areas 212 and 222 are aligned so that the centers of the image data 210 and 220 coincide with the centers of the cut areas 212 and 222, for example, as illustrated.

  Further, a communication I / F (communication means) 48 is connected to the CPU 40 via a data bus 42. A communication cable 8 is connected to the communication I / F 48, and a connector, a circuit, or the like conforming to the standard of the communication cable 8 is formed. The CPU 40 communicates with external devices including the adjustment device 7 via the communication I / F 48 and the communication cable 8. A power supply control circuit 49 is connected to the communication I / F 48. The power supply control circuit 49 includes, for example, a filter for removing power supply noise, a limiter for preventing overcurrent, and the like, and stereoscopically captures bus power supplied via the communication cable 5 through the DC / DC converter 50. It supplies to each part of the apparatus 3. In addition, after various image processing is performed, each image data 210 and 220 stored again in the system memory 43 is output to the communication I / F 48 and transmitted to the external device via the communication cable 8.

  FIG. 5 is an external perspective view showing the configuration of the adjustment stage 4. The adjustment stage 4 includes an attachment plate (fixed portion) 60 to which the stereoscopic imaging device 3 is attached, a rotation angle adjustment mechanism 61 that rotates the attachment plate 60 in the θ direction, and the rotation angle adjustment mechanism 61 together with the attachment plate 60. Y direction adjusting mechanism 62 that moves in the direction, and X direction adjusting mechanism 63 that moves these parts in the X direction. A shaft 64 is provided on the mounting plate 60 so as to pass through the center of the side surface 60a on the long side.

  The rotation angle adjusting mechanism 61 includes a holding member 65 that rotatably holds the shaft 64 of the mounting plate 60 via a bearing such as a bearing, and a θ angle adjusting motor 66 that rotates the mounting plate 60 about the shaft 64. Consists of. The rotation angle adjustment mechanism 61 rotates the θ angle adjustment motor 66 based on the drive signal from the adjustment device 7, and adjusts the θ angle within a range where the notch portion 65 a of the holding member 65 and the mounting plate 60 are in contact with each other. enable.

  The Y direction adjusting mechanism 62 includes a ball screw 67, a case 68 that rotatably holds the ball screw 67, and a Y direction adjusting motor 69 that rotates the ball screw 67. One end of the holding member 65 is formed with a nut portion 65 b in which a female screw is cut, and the nut portion 65 b and the ball screw 67 are engaged with each other through an opening 68 a formed in the front surface of the case 68. The Y-direction adjusting mechanism 62 rotates the Y-direction adjusting motor 69 based on the drive signal from the adjusting device 7. The ball screw 67 that rotates with the rotation of the Y-direction adjusting motor 69 moves the mounting plate 60 and the rotation angle adjusting mechanism 61 in the Y direction according to the rotation direction. Allows adjustment of direction. Further, the holding member 65 and the case 68 are connected through, for example, a straight advance key (not shown), and the rotation angle adjusting mechanism 61 itself is prevented from rotating as the ball screw 67 rotates. Yes.

  The X direction adjustment mechanism 63 has the same configuration as the Y direction adjustment mechanism 62, and includes a ball screw 70, a case 71 that rotatably holds the ball screw 70, and an X direction adjustment motor 72 that rotates the ball screw 70. Become. One end of the case 68 of the Y-direction adjusting mechanism 62 is formed with a nut portion 68b in which a female screw is cut, and the nut portion 68b and the ball screw 70 are engaged with each other through an opening 71a formed on the front surface of the case 71. is doing. The X-direction adjusting mechanism 63 rotates the X-direction adjusting motor 72 based on the drive signal from the adjusting device 7. The ball screw 70 that rotates along with the rotation of the X-direction adjusting motor 72 moves the Y-direction adjusting mechanism 62 and each part connected thereto in the X direction according to the rotation direction. Allows adjustment of direction.

  A CCD adjustment motor (driving means) 73 for adjusting the rotation angle (see FIG. 6) in the γ direction around the optical axis P of the second CCD 33 is attached to the back surface of the mounting plate 60. Further, a through hole 60 b is formed in the mounting plate 60, and the rotating shaft 74 of the CCD adjustment motor 73 projects to the surface side of the mounting plate 60 through the through hole 60 b. A gear 75 is provided at the tip of the rotating shaft 74. The gear 75 is inserted into the opening 18 a formed in the case 18 when the stereoscopic imaging device 3 is attached to the attachment plate 60.

  As shown in FIG. 6, a bottomed cylindrical connecting member 80 in which grooves corresponding to the teeth of the gear 75 are formed on the inner surface is provided at a position corresponding to the opening 18 a in the stereoscopic imaging device 3. . A shaft 81 is connected to the bottom surface of the connecting member 80 so as to pass through the center thereof. The connecting member 80 is connected to the gear 75 inserted through the opening 18 a when the stereoscopic imaging device 3 is attached to the attachment plate 60, and transmits the rotational force of the CCD adjustment motor 73 to the shaft 81. The shaft 81 is fixed to the frame 17 via two support columns 82 and 83 that rotatably hold the shaft 81 via a bearing such as a bearing. A bevel gear 84 is provided at the end of the shaft 81 opposite to the connecting member 80. The bevel gear 84 meshes with a bevel gear 85 provided by being rotated 90 ° in the γ direction. The bevel gear 85 is connected to a ball screw 86 having a screw cut only at the center. The ball screw 86 is fixed to the frame 17 via two struts 87 and 88 that hold the ball screw 86 rotatably through bearings such as bearings. The screw portion of the ball screw 86 is provided with a substantially cylindrical moving body 89 in which a female screw is cut. A link member 90 is formed vertically on the moving body 89. The link member 90 is provided with a long hole 90 a and is engaged with a pin 33 a protruding from the second CCD 33.

  The rotational force of the CCD adjustment motor 73 is transmitted to the shaft 81 via the connecting member 80 and rotates the ball screw 86 via the bevel gears 84 and 85. The ball screw 86 moves the moving body 89 in the direction of arrow A according to the rotation direction. The moving body 89 that has moved in the A direction pushes the pin 33 a with the link member 90. The second imaging unit 11 is rotatably held by the frame 17, and the second imaging unit 11 rotates in the γ direction when the pin 33 a pushed by the link member 90 moves along the elongated hole 90 a. To do. As a result, the rotation angle of the second CCD 33 in the γ direction is adjusted. That is, the connecting member 80, the shaft 81, the bevel gears 84 and 85, the ball screw 86, and the moving body 89 constitute the rotation angle adjusting mechanism described in the claims.

  FIG. 7 is a block diagram showing an electrical configuration of the adjustment stage 4. Dedicated motor drivers 100, 101, 102, 103 for driving the motors 66, 69, 72, 73 are connected to the motors 66, 69, 72, 73, respectively. Each motor driver 100, 101, 102, 103 is connected to the adjustment device 7 via a connector 104 and a communication cable 9 connected to this connector 104, and each motor 66 is controlled in accordance with a drive signal from the adjustment device 7. , 69, 72, 73 are driven. For example, a stepping motor is used for each of the motors 66, 69, 72, and 73, and the rotation amount of the rotation angle adjusting mechanism 61 or the Y angle is determined by the step angle that rotates in response to the input of a pulse signal (drive signal). The movement amounts of the direction adjustment mechanism 62 and the X direction adjustment mechanism 63 are strictly controlled.

  The adjustment stage 4 is provided with a power control circuit 105 to which an AC power source 106 and a power switch 107 are connected. The power supply control circuit 105 includes, for example, an AC / DC converter that converts AC power supplied from the AC power supply 106 to DC, a filter for removing power supply noise, a limiter for preventing overcurrent, and the like. In response to ON / OFF of the power switch 107 exposed on the outer surface of the adjustment stage 4, electric power converted into direct current is sent to the DC / DC converter 108. The DC / DC converter 108 converts the power from the power supply control circuit 105 into a predetermined voltage and supplies the converted power to each part of the adjustment stage 4.

  FIG. 8 is a block diagram showing an electrical configuration of the adjusting device 7. Each part of the adjusting device 7 is controlled centrally by the CPU 110. A system memory 112 connected to the CPU 110 via the data bus 111 includes a ROM, a RAM, and the like. The system memory 112 stores various programs and setting information for controlling the adjustment device 7, and stores programs read by the CPU 110. Functions as a buffer for temporary storage.

  The adjustment device 7 is provided with an LCD panel 113 and an operation input unit 115 (see FIG. 1). Various images are displayed on the LCD panel 113 in accordance with various programs stored in the system memory 112. The LCD panel 113 is connected to the CPU 110 via the LCD driver 114 and the data bus 111, and displays various images under the control of the CPU 110. The operation input unit 115 is a known input device such as a keyboard and a mouse, and transmits various operation inputs from the operator to the CPU 110 via the data bus 111. As the operation input unit 115, a touch screen panel disposed on the LCD panel 113 may be used.

  Further, the CPU 110 is connected with a communication I / F (communication means) 116, an image recognition unit 117, a cut-out calculation unit 118, and a power supply control circuit 119 via a data bus 111. A communication cable 8 for connecting the stereoscopic imaging device 3 and a communication cable 9 for connecting the adjustment stage 4 are connected to the communication I / F 116. A connector conforming to the standards of these communication cables 8 and 9 and A circuit or the like is formed. The CPU 110 communicates with the stereoscopic imaging device 3 and the adjustment stage 4 via the communication I / F 116 and the communication cables 8 and 9, and controls them.

  The image recognition unit 117 recognizes the cross mark 200 from the image data 210 and 220 of each imaging unit 10 and 11 input via the communication I / F 116 using a known pattern matching method, and each image data 210. 220, the reference position data of the center position of the cross mark 200 is acquired. Based on the reference position data of the center position of the cross mark 200 acquired by the image recognition unit 117, the cutout calculation unit 118 cuts out the cutout positions 212 and 222 stored in the flash memory 47 of the stereoscopic imaging device 3. The data is updated, and it is written to the flash memory 47 again. As described above, the adjustment device 7 adjusts the imaging ranges of the imaging units 10 and 11 by adjusting the positions of the cut-out areas 212 and 222.

  An AC power source 120 and a power switch 121 are connected to the power source control circuit 119. The power supply control circuit 119 includes, for example, an AC / DC converter that converts AC power supplied from the AC power supply 120 into DC, a filter for removing power supply noise, a limiter for preventing overcurrent, and the like. The electric power converted into direct current is sent to the DC / DC converter 122 in accordance with ON / OFF of the power switch 121 exposed on the outer surface of the adjusting device 7. The DC / DC converter 122 converts the power from the power supply control circuit 119 into a predetermined voltage, and supplies the converted power to each part of the adjustment device 7. The power from the DC / DC converter 122 is also supplied to the communication I / F 116 and sent to the stereoscopic imaging device 3 as bus power. Note that ON / OFF of the power source of the stereoscopic imaging device 3 is controlled by whether or not bus power is supplied from an external device including the adjustment device 7.

  Next, the operation of the present invention will be described with reference to the flowchart shown in FIG. 9 and the explanatory diagram shown in FIG. When adjusting the imaging ranges of the imaging units 10 and 11 of the stereoscopic imaging device 3, first, the units are arranged as shown in FIG. 1 to construct the imaging range adjustment system 2. After each part is arranged, the power switch 107 of the adjustment stage 4 and the power switch 121 of the adjustment device 7 are turned on to activate each part. At this time, the stereoscopic imaging device 3 is activated by the bus power supplied from the adjustment device 7 via the communication cable 8.

  After each part is activated, the adjustment stage 4 is controlled from the adjustment device 7, and the center 200a of the cross mark 200 reflected in the right eye image data 210 is represented by (−Xs, 0) as shown in FIG. Move to position. At this time, the reference is the center 212a of the cut-out area 212. Xs corresponds to the parallax of each of the imaging units 10 and 11, and is unambiguous depending on the base line length of each of the imaging units 10 and 11, the distance to the chart 5, the convergence angle of each of the imaging units 10 and 11, and the like. It is a value that is determined. That is, when the center 200a of the cross mark 200 is reflected at the position (−Xs, 0), an appropriate imaging range having no positional deviation other than parallax in the right-eye image is obtained. Therefore, the position (−Xs, 0) corresponds to the proper position described in the claims, and the center 200a of the cross mark 200 corresponds to the reference position described in the claims. This position control may be performed manually by the operator via the operation input unit 115. For example, the image recognition unit 117 acquires the reference position data of the center 200a of the cross mark 200, and uses (−Xs , 0), each part of the adjustment stage 4 may be automatically controlled.

  When the imaging range of the right eye image is adjusted to an appropriate position, the CCD adjustment is performed when the left eye image has a tilt as shown in FIG. The motor 73 is driven. When the CCD adjustment motor 73 is driven, the second CCD 33 rotates in the γ direction as shown in FIG. As a result, the cross mark 200 reflected in the left eye image data 220 is rotated as shown in FIG. 10B to adjust the deviation of the rotation angle in the γ direction.

  When the shift of the rotation angle in the γ direction is adjusted, the left eye image data 220 is sent to the image recognition unit 117. The image recognizing unit 117 recognizes the cross mark 200 from the left eye image data 220 using a pattern matching technique, and determines the position of the center 200a. The image recognition unit 117 that has determined the position of the center 200a sets the center 222a of the cut-out area 222 as (0, 0), and the position of (Xs, 0) shifted in the X direction by Xs therefrom is used as a reference. The deviation amounts X1 and Y1 from the reference to the center 200a of the cross mark 200 are acquired. The image recognition unit 117 that has acquired the shift amounts X1 and Y1 sends these to the cut-out calculation unit 118.

  The cut-out calculating unit 118 to which the shift amounts X1 and Y1 are input reads out the cut-out position data of the cut-out area 222 from the flash memory 47 of the stereoscopic imaging device 3. For example, when the upper left corner 220a of the left eye image data 220 is used as a reference, the cut position data is stored as shift amounts X0 and Y0 from here to the upper left corner 222b of the cut area 222. Based on each value, the cut-out calculating unit 118 updates the cut-out position data of the cut-out area 222 such that X2 = X0-X1, Y2 = Y0-Y1, and adjusts the position of the cut-out area 222. The updated cut position data X2 and Y2 are written to the flash memory 47 again.

  The adjusted cutout area 222 is as shown in FIG. 10C, and the center 200a of the cross mark 200 reflected in the left-eye image moves to the position (Xs, 0), and is the same as the right-eye image. It can be seen that adjustment was made to an appropriate imaging range with no positional deviation other than parallax. The stereoscopic imaging device 3 in which the cut-out position data X2 and Y2 are written in the flash memory 47 reads out the adjusted position data from the flash memory 47 when the image signal processing unit 46 performs the cut-out process thereafter. Each image having no positional deviation other than parallax is supplied to an external device.

  In the above embodiment, the flash memory 47 is used as the nonvolatile memory. However, the present invention is not limited to this, and another nonvolatile memory such as an EEPROM may be used.

It is a block diagram of an imaging range adjustment system. It is an external appearance perspective view of a three-dimensional imaging device. It is a block diagram which shows the electrical structure of a three-dimensional imaging device. It is explanatory drawing explaining the effective pixel area and cutout area of each image data. It is an external appearance perspective view of an adjustment stage. It is explanatory drawing explaining the structure of a rotation angle adjustment mechanism. It is a block diagram which shows the electrical structure of an adjustment stage. It is a block diagram which shows the electric constitution of an adjustment apparatus. It is a flowchart which shows the adjustment method of an imaging range. It is explanatory drawing explaining the adjustment method of an imaging range.

Explanation of symbols

DESCRIPTION OF SYMBOLS 2 Imaging range adjustment system 3 Stereo imaging device 4 Adjustment stage 5 Chart 7 Adjustment device 10 1st imaging part 11 2nd imaging part 12 Case 13 1st imaging lens 15 2nd imaging lens 23 1st CCD (imaging element)
33 Second CCD (imaging device)
46 Image signal processing section (image cropping section)
47 Flash memory (nonvolatile memory)
60 Mounting plate (fixed part)
61 Rotation angle adjustment mechanism 62 Y direction adjustment mechanism 63 X direction adjustment mechanism 73 CCD adjustment motor (drive means)
116 Communication I / F (communication means)
117 Image recognition unit 118 Clipping calculation unit 200 Cross mark (adjustment image)

Claims (5)

A plurality of image pickup units each including an image pickup lens and an image pickup device, a housing for holding the image pickup units side by side with a predetermined interval, and a cut-out area predetermined for each effective pixel area of each image pickup device A stereoscopic imaging device comprising: an image cutout unit that cuts out a corresponding portion from each effective pixel area; and a nonvolatile memory that stores cutout position data representing the position of each cutout area on the effective pixel area When,
A chart on which an adjustment image for adjusting the imaging range of each imaging unit is drawn;
A fixing unit that fixes the stereoscopic imaging device in a state in which each imaging unit and the adjustment image face each other, and a direction in which the fixed stereoscopic imaging device moves vertically and horizontally and faces the adjustment image An adjustment stage comprising a position adjustment mechanism that rotates around the axis,
An appropriate position in which any one of the imaging units is shifted from the center position of each of the cut-out areas by the amount of parallax of each of the imaging units by the communication unit that enables mutual communication with the stereoscopic imaging device and the adjustment stage. And the reference position of the adjustment image, the adjustment image is recognized from each effective pixel area captured in that state, and the reference position is determined from each appropriate position. An image recognition unit that obtains reference position data representing the amount of deviation until, and based on each of the reference position data, update the cut-out position data so that the appropriate position matches the reference position, An imaging range adjustment system for a stereoscopic imaging device, comprising: an adjustment device including a cut-out calculation unit that overwrites the updated cut-out position data in the nonvolatile memory. The stereoscopic imaging device has a rotation angle adjustment mechanism that adjusts a rotation angle around the optical axis of each imaging element,
The imaging range adjustment system according to claim 1, wherein the adjustment stage includes a driving unit for driving each rotation angle adjustment mechanism. A plurality of imaging units each including an imaging lens and an imaging element;
A housing for holding the imaging units side by side with a predetermined interval;
An image cutout unit that cuts out from each effective pixel area a portion corresponding to a predetermined cutout area for each effective pixel area of each image sensor;
A stereoscopic imaging apparatus comprising: a non-volatile memory that stores cut-out position data representing a position of each cut-out area on the effective pixel area. Communication means for enabling mutual communication with the stereoscopic imaging apparatus according to claim 3;
When the stereoscopic imaging apparatus captures a chart on which an adjustment image for adjusting the imaging range of each imaging unit is captured, the stereoscopic imaging device recognizes the adjustment image from each effective pixel area, and extracts the cutout image. Image recognition that acquires reference position data representing an amount of deviation from an appropriate position shifted from the center position of the area by the amount of parallax of each imaging unit to the reference position of the image for adjustment corresponding to each of the imaging units And
Based on the reference position data, the cutting position data is updated so that the appropriate position matches the reference position, and the updated cutting position data is overwritten in the nonvolatile memory. An adjustment device comprising an output calculation unit. A plurality of image pickup units each including an image pickup lens and an image pickup device, a housing for holding the image pickup units side by side with a predetermined interval, and a cut-out area predetermined for each effective pixel area of each image pickup device A stereoscopic imaging device comprising: an image cutout unit that cuts out a corresponding portion from each effective pixel area; and a nonvolatile memory that stores cutout position data representing the position of each cutout area on the effective pixel area The
Fixed to an adjustment stage that moves up and down, left and right while facing the chart on which an adjustment image for adjusting the imaging range of each imaging unit is drawn, and rotates around the direction facing the chart And
By moving or rotating the stereoscopic imaging device on this adjustment stage, an appropriate position shifted from the center position of each cut-out area by the amount of parallax of each imaging unit matches the reference position of the adjustment image. Combine any one of the imaging units,
Recognizing the adjustment image from each effective pixel area imaged in that state, obtaining reference position data representing the amount of deviation from each appropriate position to the reference position,
Based on each of these reference position data, update each of the cutout position data so that the appropriate position matches the reference position, and overwrite the updated cutout position data in the nonvolatile memory. A method for adjusting an imaging range of a stereoscopic imaging device.

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