JP5492382B2 - Work surface photography camera - Google Patents

Description

  The present invention relates to a work surface imaging camera capable of capturing an image of the maximum range of a work surface, for example, when performing remote work such as sampling a sample inside a living body or performing some operation on the work surface. Specifically, the present invention relates to a camera for photographing a work surface that has an operation opening for allowing the operation means to pass therethrough and can minimize the loss of a work surface image by the operation means.

2. Description of the Related Art Conventionally, a camera that photographs a remote work surface, such as an endoscope used in the medical field, has been used. As an example of such a camera, there is one as described in Patent Document 1 below. Patent Document 1 describes an endoscope in which a long endoscope body having flexibility is provided with a channel through which a treatment tool such as forceps is inserted. While observing the work surface with an endoscope, the work surface can be operated with forceps inserted into the channel.
JP 11-76155 A

  In a camera such as an endoscope described in Patent Document 1, an operation on a work surface can be performed by operating means such as forceps while observing an image of the work surface by the camera. It may interfere with the shooting of the surface. That is, when an image of the work surface is captured by the camera, the work surface is hidden by the operating means, and the work surface image is lost. For this reason, when attempting to photograph the entire work surface, it is necessary to move the operating means to a retracted position that does not interfere with photographing. In addition, when performing operations on the work surface while checking the image of the work surface, it is necessary to change the relative positional relationship between the camera and the operation means so as not to interfere with the shooting of the portion that needs to be confirmed. There are also many.

  As described above, the camera for photographing the work surface has a problem that the photographing of the work surface is hindered due to the presence of the operation means. Further, in order to avoid such problems, it is necessary to perform complicated and complicated operations such as retracting the operation means and changing the relative positions of the camera and the operation means.

  Therefore, the present invention has an operation opening for allowing the operation means to pass through when performing some operation on the work surface, and can minimize the loss of the work surface image by the operation means. An object of the present invention is to provide a work surface photographing camera capable of photographing an image in the maximum range of the above.

In order to achieve the above object, the camera for photographing a work surface of the present invention is provided with an operation opening for passing an operation means for performing an operation on the work surface, and an image of the work surface is provided around the operation opening. A front member provided with three or more image openings for acquisition, a plurality of cameras arranged corresponding to each of the image openings, and an image processing unit for processing images taken by the plurality of cameras; Have The three or more image openings are arranged so that all of them are not lined up on one straight line, and are arranged on a circumference centered on the operation opening, and the image processing The unit synthesizes a new image from a plurality of images photographed by the plurality of cameras, and the new image is obtained by reducing the range of images in which the work surface is hidden by the operation means .

  In the above-described work surface photographing camera, a plurality of types of cameras having different angles of view may be mixedly arranged.

In addition, the work surface photographing camera of the present invention is provided with an operation opening for allowing an operation means for performing an operation on the work surface to pass therethrough, and three pieces for acquiring an image of the work surface around the operation opening. A front member provided with the above image apertures, a plurality of lenses arranged corresponding to each of the image apertures, a plurality of optical fiber bundles for transmitting an image formed by the lenses, and transmitted by the optical fiber bundles A plurality of cameras that capture the captured images, and an image processing unit that processes the images captured by the plurality of cameras. The three or more image openings are arranged so that all of them are not lined up on one straight line, and are arranged on a circumference centered on the operation opening, and the image processing The unit synthesizes a new image from a plurality of images photographed by the plurality of cameras, and the new image is obtained by reducing the range of images in which the work surface is hidden by the operation means .

In the work surface photographing camera, a plurality of types of lenses having different focal lengths may be mixedly arranged .

In the above work surface photographing camera, the front member is preferably capable of changing its position and photographing direction .

In the work surface photographing camera, the front member is preferably provided with 10 or more image openings .

  In the work surface photographing camera, the front member preferably has the image opening arranged on two circumferences centered on the operation opening.

In the work surface photographing camera, the image processing unit may perform image processing using an average value of a plurality of images .

  Since this invention is comprised as mentioned above, there exist the following effects.

  Since three or more image openings are provided around the operation opening, it is possible to minimize the loss of the image on the work surface due to the presence of the operation means, and it is possible to take an image of the maximum range of the work surface. . For this reason, it is not necessary to perform complicated and complicated operations such as retracting the operation means and changing the relative positions of the camera and the operation means, and the work surface can be efficiently photographed and operated. Further, if necessary, the operation means can be made translucent or completely erased, and various images can be output according to the purpose and application.

  When two types of cameras having different angles of view are mixedly arranged, two types of images having different angles of view can be output. The two types of images can be monitored simultaneously or selected.

  In a work surface photographing camera using an image transmission unit using an optical fiber bundle, the diameter of the front member can be made extremely small, and narrow passages, through holes, gaps, and the like can be passed.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an overall configuration of a work surface photographing camera according to the present invention. FIG. 2 is a perspective view showing the configuration of the front end portion of the work surface photographing camera. The work surface photographing camera of the present invention is for photographing the state of the work surface 9, and in particular, while operating the work surface 9 by the operation means 8, the state of the work surface 9 is maximized. It is intended to enable observation. Specific examples of the work surface 9 include a tissue surface inside a human body and a living body, an inner surface of an internal space such as a ruin, and a work surface that is difficult to access at a disaster site.

  The work surface photographing camera of the present invention includes a front member 1, an image transmission unit 4, a camera array 50 that is an assembly of cameras 5, and an image processing unit 6. A large operation opening 2 is formed in the center of the front member 1, and the operation means 8 can be moved forward and backward with respect to the work surface 9 through the operation opening 2. The operation means 8 performs arbitrary operations and processes on the work surface 9. For example, the operation means 8 can collect a sample from the work surface 9, cut the surface of the work surface 9, or close the opening of the surface of the work surface 9.

  As shown in FIG. 2, the front member 1 is provided with a plurality of image openings 3 around the operation opening 2. The image opening 3 is an opening provided for acquiring an image of the work surface 9. Here, 16 image openings 3 are equally provided on the circumference centering on the operation opening 2. Three or more image apertures 3 need to be provided, and the image apertures 3 need to be arranged so that not all are aligned on one straight line. If all the image openings 3 are arranged on one straight line, images with different shooting angles cannot be obtained in the direction orthogonal to the straight line, which causes inconvenience in image processing.

  It is necessary to provide three or more image openings 3, but a larger number is preferable. In order to obtain a good image by performing image processing by the image processing unit 6, it is desirable that the number of the image openings 3 is 10 or more. FIG. 2 shows an example in which 16 image apertures 3 are provided. However, as a prototype example of the present invention, a product having 25 image apertures 3 is manufactured and its image processing operation is verified. did.

  One end of the image transmission unit 4 is disposed and fixed to the image opening 3. A camera 5 is connected to the other end of the image transmission unit 4 as described later. The camera array 50 is an aggregate of a plurality of cameras 5. The number of cameras 5 is the same as the number of image openings 3. The image of the work surface 9 acquired through the image opening 3 is transmitted through the image transmission unit 4 and is taken by the camera 5 at the other end of the image transmission unit 4. The captured image is sent from the camera array 50 to the image processing unit 6, and the image processing unit 6 creates a new image by image processing from a plurality of captured images. Specific contents of this image processing will be described later.

  Although not shown in FIG. 1, a mechanism for changing the position and shooting direction of the front member 1 is connected to the front member 1. The front member 1 can be moved and positioned at an arbitrary position, or the direction of the front member 1 can be changed to change the shooting direction. The front member 1 can be moved and positioned in an arbitrary direction and an arbitrary position, and an image of an arbitrary part of the work surface 9 can be taken. Further, any operation or processing on the work surface 9 can be performed by the operation means 8 while monitoring the captured image.

  FIG. 3 is a cross-sectional view showing configurations of the image transmission unit 4 and the camera 5. An optical fiber bundle 42 in which a large number of optical fibers are bundled is arranged inside the image transmission unit 4 as shown in the figure. A number of optical fibers corresponding to the number of pixels of the camera 5 are bundled in the optical fiber bundle 42. A lens 41 for forming an image on the front end surface of the optical fiber bundle 42 is disposed on the front end side (front member 1 side) of the image transmission unit 4. The lens 41 can be a fixed focus lens in which the focusing mechanism is omitted by setting the depth of focus to an appropriate value. Since the front member 1 can be moved to an arbitrary position, there is no problem even with a fixed focus lens with pan focus. Of course, a focus adjustment mechanism may be provided so that the focus position can be adjusted.

  The image formed on the front end surface of the optical fiber bundle 42 is transmitted through the optical fiber and emitted from the rear end surface (end surface on the camera 5 side) of the optical fiber bundle 42. The image emitted from the rear end surface of the optical fiber bundle 42 is the same as the image formed on the front end surface. A camera 5 is connected to the rear end side of the image transmission unit 4. The camera 5 includes a fixed-focus lens 51 and a CCD 52 that is an image sensor. Since the position of the rear end face of the optical fiber bundle 42 does not change, the lens 51 may be a fixed focus. An image emitted from the rear end surface of the optical fiber bundle 42 is formed on the CCD 52, and the position of the lens 51 is fixed so that the image is focused on the CCD 52.

  An image photographed by the camera 5 is sent to the image processing unit 6, and a new image is created by image processing from the plurality of photographed images. The camera 5 is shown in FIG. 1 as a camera array 50 in which a plurality of cameras 5 are assembled. The number of cameras 5 is the same as the number of image openings 3 in the front member 1. However, the arrangement shape of the camera 5 does not have to be the same as the arrangement shape of the image opening 3 and can be in any arrangement state. Various parameters indicating the arrangement state of the image aperture 3 are necessary for the image processing by the image processing unit 6, but the arrangement state of the camera 5 does not affect the image processing.

  FIG. 4 is a diagram showing an overall configuration of a work surface photographing camera according to another embodiment of the present invention. The work surface photographing camera of this embodiment is similar to the structure of the work surface photographing camera of FIG. 1 except that the camera 5 is directly disposed on the front member 1 without using the image transmission unit 4. . In the work surface photographing camera of this embodiment, a plurality of cameras 5 are directly arranged corresponding to the position of the image opening 3 of the front member 1. The configuration of the camera 5 is the same as that shown in FIG. 3 and includes a lens 51 and a CCD 52 that is an imaging device. The lens 51 is positioned so that the image of the work surface 9 is focused on the CCD 52. ing.

  The lens 51 can be a fixed focus lens in which the focusing mechanism is omitted by setting the depth of focus to an appropriate value. Since the front member 1 is movable, there is no problem even with a fixed focus lens with pan focus. Of course, a focus adjustment mechanism may be provided so that the focus position can be adjusted. An image photographed by the camera 5 is sent to the image processing unit 6 through a signal cable. The image processing unit 6 creates a new image by image processing from a plurality of captured images. The image processing performed by the image processing unit 6 is exactly the same as that of the work surface shooting camera of FIG.

  If it is not necessary to reduce the diameter of the front member 1 so much, the configuration of the working surface photographing camera in the form of FIG. 4 is simplified because the image transmission unit 4 by the optical fiber bundle 42 is not required. It is advantageous in terms of cost. However, when it is necessary to pass through a narrow passage, a through hole, a gap, or the like, and the diameter of the front member 1 is required to be extremely small, the work surface photographing camera in the form of FIG. 1 is more suitable. ing.

  FIG. 5 is a diagram illustrating an arrangement example of the image openings 3 in the front member 1. This arrangement example is the same as that shown in FIG. 2, and 16 image openings 3 are equally provided on the circumference around the operation opening 2. It is necessary to provide three or more image openings 3, but a larger number is preferable. In order to obtain a good image by performing image processing by the image processing unit 6, it is desirable that the number of the image openings 3 is 10 or more. Further, FIG. 5 shows an example in which 16 image openings 3 are provided, but it is preferable to provide more image openings 3. In the present invention, as described above, a device provided with 25 image openings 3 was manufactured, and the operation of the image processing was verified.

  The cameras 5 arranged corresponding to the image openings 3 may all have the same characteristics, but may be appropriately arranged with different characteristics. For example, two types of cameras having different angles of view may be arranged at every other image opening 3. In this case, two types of images can be output: an image obtained by collectively processing images from a camera having a narrow angle of view, and an image obtained by collectively processing images from a camera having a wide angle of view. The two types of images can be monitored simultaneously or selected. In addition, in the work surface photographing camera using the image transmission unit 4 as shown in FIG. 1, the focal length of the lens 41 may be changed in order to change the angle of view of the camera 5.

  Here, the image openings 3 are arranged uniformly on the circumference, but such an arrangement is not necessarily required. For example, the image opening 3 may not be arranged on a part of the circumference but may be C-shaped, and the image opening 3 may be arranged on each side of the polygon. The front member 1 is preferably provided with an opening for illumination. A part of the image aperture 3 can be used as an illumination aperture.

FIG. 6 is a diagram illustrating another arrangement example of the image openings 3 in the front member 1. In FIG. 6, 16 image openings 3 are equally provided on the circumference of two concentric circles centering on the operation opening 2. In this case, two kinds of cameras having different angles of view, may be arranged on the inner side of the circumference and outside the circumference. Of course, cameras having the same characteristics may be arranged on the inner circumference and the outer circumference. Moreover, you may use a part of these image opening 3 as an opening for illumination.

  FIG. 7 is a diagram for explaining a specific example of image processing. Here, in order to simplify the description, it is assumed that the cameras are three cameras 5a, 5b, and 5c arranged evenly on the circumference. The range of the captured image of the work surface 9 by the camera 5a is inside the circle A, the range of the captured image of the camera 5b is inside the circle B, and the range of the captured image of the camera 5c is inside the circle C. Differences in the positions of the cameras 5a, 5b, and 5c cause differences in the ranges of the respective captured images.

  Here, an image area captured by only the camera 5a is displayed as R (A), an image area captured by the two cameras 5a and 5b is displayed as R (AB), and the cameras 5a, 5b, 5c are displayed. The image area photographed by the three cameras is displayed as R (ABC). Other areas are displayed in the same manner. In the image regions R (A), R (B), and R (C) photographed by a single camera, these images are used as they are as output images.

  In the image areas R (AB), R (BC), and R (AC) photographed by two cameras, the image data from the two cameras are added and divided by two. That is, the average value of the image data of the two cameras is calculated and the average value is used as the output image. In the image area R (ABC) photographed by the three cameras, the image data from the three cameras are added and divided by three. Again, the average value of the image data of the three cameras is calculated and the average value is used as the output image.

  Even if the operating means 8 is present near the center of the circumference where the cameras 5a, 5b, 5c are arranged, images of the operating means 8 are taken at different positions by the cameras 5a, 5b, 5c. Therefore, when the image processing as described above is performed, the image data of the operation means 8 and the image data of the work surface 9 by another camera are averaged, and the operation means 8 becomes a translucent image and the rear side thereof. The image of the work surface 9 can be seen through. Thereby, the range of the work surface 9 that is hidden by the operation means 8 and cannot be seen can be greatly reduced.

  Thus, by performing the averaging image processing as described above, it is possible to obtain an image in which the operation means 8 is made translucent. Further, an area represented as a union inside the circles A, B, and C is appropriately divided, and an image in which the operation means 8 is not displayed at all is adopted by adopting only an image in which the operation means 8 is not reflected in each area. It can also be.

  As described above, in the camera for photographing the work surface of the present invention, it is possible to minimize the loss of the image on the work surface due to the presence of the operation means, and it is possible to photograph the image in the maximum range of the work surface. For this reason, it is not necessary to perform complicated and complicated operations such as retracting the operation means and changing the relative positions of the camera and the operation means, and the work surface can be efficiently photographed and operated. Further, if necessary, the operation means can be made translucent or completely erased, and various images can be output according to the purpose and application.

  Here, an example is shown in which a CCD is used as the image sensor of the camera, but any image sensor other than a CCD can be used.

  According to the camera for photographing the work surface of the present invention, it is possible to minimize the loss of the image on the work surface due to the presence of the operation means, and it is possible to photograph the image of the maximum range of the work surface, so that the work can be efficiently performed. Surface imaging and manipulation can be performed.

It is a figure which shows the whole structure of the camera for work surface imaging | photography of this invention. It is a perspective view which shows the structure of the front-end | tip part of the camera for work surface imaging | photography. FIG. 3 is a cross-sectional view illustrating configurations of an image transmission unit 4 and a camera 5. It is a figure which shows the whole structure of the camera for work surface imaging | photography of the other form of this invention. FIG. 3 is a diagram illustrating an example of arrangement of image openings 3 in the front member 1. It is a figure which shows another example of arrangement | positioning of the image opening 3 in the front member 1. FIG. It is a figure for demonstrating the specific example of an image process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Front member 2 Operation opening 3 Image opening 4 Image transmission part 5 Camera 6 Image processing part 8 Operation means 9 Work surface 41,51 Lens 42 Optical fiber bundle 50 Camera array 52 CCD

Claims (8)

An operation opening (2) for allowing an operation means (8) for operating the work surface (9) to pass therethrough is provided, and an image of the work surface (9) is acquired around the operation opening (2). A front member (1) provided with three or more image openings (3);
A plurality of cameras (5) arranged corresponding to each of the image openings (3);
An image processing unit (6) for processing images taken by a plurality of the cameras (5),
The three or more image openings (3) are arranged so as not to line up on one straight line, and are arranged on a circumference centering on the operation opening (2). ,
The image processing unit (6) synthesizes a new image from a plurality of images taken by the plurality of cameras (5), and the new image is displayed on the work surface (9) by the operation means (8). ) Is a work surface shooting camera that reduces the range of images that are hidden . The work surface shooting camera according to claim 1,
The plurality of cameras (5) are work surface shooting cameras in which a plurality of types having different angles of view are mixedly arranged. An operation opening (2) for allowing an operation means (8) for operating the work surface (9) to pass therethrough is provided, and an image of the work surface (9) is acquired around the operation opening (2). A front member (1) provided with three or more image openings (3);
A plurality of lenses (41) arranged corresponding to each of the image apertures (3);
A plurality of optical fiber bundles (42) for transmitting an image formed by the lens (41);
A plurality of cameras (5) for taking images transmitted by the optical fiber bundle (42);
An image processing unit (6) for processing images taken by a plurality of the cameras (5),
The three or more image openings (3) are arranged so as not to line up on one straight line, and are arranged on a circumference centering on the operation opening (2). ,
The image processing unit (6) synthesizes a new image from a plurality of images taken by the plurality of cameras (5), and the new image is displayed on the work surface (9) by the operation means (8). ) Is a work surface shooting camera that reduces the range of images that are hidden . A camera for photographing a work surface according to claim 3,
The plurality of lenses (41) is a work surface photographing camera in which a plurality of types having different focal lengths are mixedly arranged. A camera for photographing a work surface according to any one of claims 1 to 4,
The front member (1) is a work surface photographing camera capable of changing its position and photographing direction. A camera for photographing a work surface according to any one of claims 1 to 5,
The front member (1) is a work surface photographing camera in which ten or more image openings (2) are provided. A camera for photographing a work surface according to claim 6,
The front surface member (1) is a work surface photographing camera in which the image opening (3) is arranged on two circumferences centering on the operation opening (2). A camera for photographing a work surface according to any one of claims 1 to 7,
The image processing unit (6) is a camera for photographing a work surface that performs image processing using an average value of a plurality of images.

Images