JP5822631B2 - System construction device for camera device - Google Patents

Description

  The present invention relates to a system construction device for mounting a function according to the application of a camera device that captures an image of a subject and records image data.

  In recent years, camera devices have been used in various fields with the spread of digital cameras having an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). For example, Patent Document 1 discloses an FA camera device applied to the industrial field. According to the FA camera device, in the electronic component mounting device, the substrate recognition is performed based on the acquired image data, and the positioning accuracy of the head that sucks the component is improved. In such a camera device, as functions are diversified, various functions and performances are required. If the requested function cannot be handled by a general-purpose camera device, a dedicated camera device that implements the function is required. However, a dedicated camera device specialized for a predetermined function takes a lot of time to manufacture, and there is a concern that the cost is higher than that of a general-purpose camera device.

  In addition, the usage and required performance of the camera device may be changed after installation. Then, since a lot of time is required for the correction accompanying this, there is a problem that correction cannot be made immediately and the correction cost is required. For example, Patent Document 2 discloses a camera configured by detachably connecting an imaging module provided with an imaging element to a camera body. Thereby, for example, even if the imaging range and resolution required for the camera device are changed, it is considered that a certain degree of change can be accommodated by replacing the imaging module.

JP 2000-294992 A JP 2004-304604 A

  However, camera devices used in various fields including the industrial field are required to change image processing types and processing functions in addition to replacement of imaging modules. Furthermore, it is necessary to modify the interface depending on the change of the external device for communication, and the external dimensions may be restricted depending on the installation location of the camera device.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a system construction device for a camera device that implements a function in a camera device applicable to various applications.

In order to solve the above-described problem, according to the invention according to claim 1, the system construction device of the camera device captures an image based on an imaging command input through communication with an external device, and acquires image data acquired by the imaging. Targeting a camera device that outputs to the external device, a function according to the application of the camera device is implemented. Excluding the imaging module does not have a function of communicating with the by imaging a subject and obtains the image data the external device by the imaging device, and an external communication module in communication with the external device, the imaging module and the external communication module Three or more modules having different functions, including a third module, between the imaging module and the external communication module, between the imaging module and the third module, and between the external communication module and the A communication program capable of communicating with each other is implemented by a common signal shared with the third module. The camera device is configured by detachably connecting a plurality of the modules selected so as to include at least the imaging module and the external communication module among the three or more modules, and constitutes the camera device. At least one of the modules is provided with a circuit element capable of mounting a program for executing a function assigned to each of the modules, and the system construction device is connected to the camera device in a communicable manner. And a program mounting unit that transfers the program mounted on the circuit elements of the module and the common communication program mounted on all the modules . The program mounting unit sets the number of the imaging elements set by the setting unit when mounting the program for executing the imaging function of one or a plurality of the imaging modules constituting the camera device on the circuit element. In response, the program is transferred.

  According to the invention according to claim 2, in claim 1, the system construction device is based on an information acquisition unit that acquires module information including the function related to the selected module, and the acquired module information. A display unit that selectively displays the program that can be mounted on the circuit element of the module, and the program mounting unit transfers the program selected on the display unit to the circuit element of the module. .

  According to a third aspect of the present invention, in the second aspect, the display unit displays a program display area that displays the program that can be mounted on the circuit element as an icon, and a selection that displays the icon of the selected program. When the icon is dragged and dropped from the program display area to the selection display area, the program displayed by the icon is displayed in the selection display area as being selected. .

  According to a fourth aspect of the present invention, in the third aspect, the display unit displays a device driver of the module as the program in the program display area.

  According to the invention according to claim 5, in claim 4, the module information of the module includes hardware information related to the configuration of the module, and the display unit receives the module based on the acquired hardware information. The device driver corresponding to is displayed in the program display area.

According to a sixth aspect of the present invention, in any one of the third to fifth aspects, a part or all of the image data acquired by each of the image sensors when the number of the image sensors is two or more. Is further provided with a processing method designating unit for designating a processing method for determining whether or not to execute common image processing. When the display unit includes an image processing module that performs image processing on the image data in the plurality of modules constituting the camera device, the image processing executable as the program is performed in the program display area. And the selected image processing is displayed in the designated execution order in the designated execution order.
In order to solve the above-described problem, according to the invention according to claim 7, there is provided a system construction device for a camera device, wherein the camera device captures an image of a subject by an image sensor and acquires image data; A plurality of modules selected so as to include at least the imaging module and the external communication module among three or more modules having different functions including an external communication module that communicates with an external device; Configure. At least one of the plurality of modules constituting the camera device is provided with a circuit element capable of mounting a program for executing a function assigned to each of the modules.
The system construction device includes: a setting unit that sets the number of the imaging elements provided in the selected one or a plurality of the imaging modules; a communication unit that is communicably connected to the camera device; An information acquisition unit that acquires module information including the function related to the module, a display unit that displays the program that can be mounted on the circuit element of the module based on the acquired module information, and the imaging device A processing method designating unit for designating a processing method as to whether or not to perform common image processing on a part or all of the image data acquired by each of the image sensors when the quantity of the image data is 2 or more; The program selected in the display unit as the program to be mounted on the circuit element of the module corresponds to the number of the imaging elements. And a program implementation unit that transfers Te.
The display unit includes a program display area that displays the program that can be mounted on the circuit element as an icon, and a selection display area that displays the icon of the selected program, and configures the camera device. When the image processing module that executes image processing on the image data is included in a plurality of the modules, the image processing executable as the program is displayed in the program display area, and is classified according to the processing method. The selected image processing is displayed in the designated execution order in the selected display area.

According to the invention according to claim 8 , in claim 6 or 7 , when one or more of the image processes are selected in the selection display area, it is assumed that the image processes are executed in a designated execution order. And a simulation unit for simulating the image data after execution.

According to the invention of claim 9, further comprising in any one of claims 2-8, a proper determination unit on the basis of the module information about the program that has been selected for the module.

According to a tenth aspect of the present invention, in any one of the first to ninth aspects, the communication unit is communicably connected to the camera device by a communication unit that communicates the external communication module with the external device. The
According to the invention according to claim 11, in any one of claims 1 to 10, the external communication module conforms to a communication protocol or communication standard defined by the external device connected to be communicable, and An external communication function capable of communicating with the external device by communication means corresponding to a prescribed data transmission path; The program implementation unit transfers the program for executing the external communication function to the circuit element of the module.
According to a twelfth aspect of the present invention, in any one of the first to eleventh aspects, the program mounting unit automatically performs a predetermined operation on a plurality of the modules constituting the camera device based on the image data. When an autonomous operation module having an autonomous operation function to be performed is included, the program for executing the autonomous operation function is transferred to the circuit element of the module.

  According to the first aspect of the present invention, the camera device is configured by detachably connecting a plurality of modules selected from three or more modules having different functions. Therefore, according to such a camera device, a plurality of modules can be connected as required, and can be easily applied to various applications. In addition, at least one of the plurality of modules constituting the camera device is provided with a circuit element capable of mounting a program. This circuit element corresponds to a PLD (Programmable Logic Device), an ASIC (Application Specific Integrated Circuit), a microcomputer, or the like in a broad sense. PLDs and ASICs are integrated circuits that can execute specific processing (programs) by defining logic circuits. As described above, in order for a camera device constituted by a plurality of modules to exhibit a required function, it is necessary to construct a system as a camera device by mounting a program on a circuit element provided in the module. is there.

  Furthermore, the camera device is constituted by a plurality of modules selected to include at least an imaging module. This imaging module is a module provided with an imaging device for acquiring image data, and may be a compound eye type having a plurality of imaging devices and a lens unit for use in a camera device. Depending on the camera device, a plurality of imaging modules may be selected and configured. Then, the camera device can simultaneously acquire a plurality of image data, and the program to be mounted on the circuit element provided in the module may be complicated as compared with the monocular type.

  Therefore, in the present invention, the program mounted on the circuit element of the module by the program mounting unit is transferred according to the number of image sensors via a communication unit that is communicably connected to the camera device. Thereby, even if it is a compound eye type camera apparatus, the some program according to the quantity of an image pick-up element is mounted. Therefore, the system is constructed so that the camera device exhibits the function assigned to each module by the installed program. Therefore, the degree of freedom in design is improved as compared with a conventional camera device, and a camera device that can cope with required functions and performance can be configured. The plurality of modules can be designed and inspected in module units, and existing modules can be used. Thereby, compared with the case where a dedicated camera apparatus is manufactured, a development man-hour can be reduced significantly.

  According to the invention which concerns on Claim 2, the display part shall display the program which can be mounted in a circuit element based on module information so that selection is possible. Here, since the camera device is configured by selecting a plurality of modules according to the usage or the like, the hardware configuration is not specified until the combination is determined. Therefore, first, when a combination of predetermined modules constituting the camera device is determined, module information such as what functions each module has is acquired by the information acquisition unit. About the acquisition method of module information, you may acquire by communicating with the camera apparatus connected with the system construction apparatus, and you may acquire it by inputting the combination of the module determined by the user. And a display part displays a program based on this module information, and selection of a program is assisted and becomes easy. Therefore, the system construction of the camera device can be simplified.

  According to the third aspect of the present invention, the program that can be mounted on the circuit element provided in the module is displayed as an icon on the display unit. Then, by dragging and dropping this icon from the program display area to the selection display area, the program can be easily selected. In such a configuration, the selection of the program can be canceled by dragging and dropping from the selection display area to the program display area. Thus, by assigning a function for selecting or canceling a program to a simple mouse gesture such as drag and drop, it is possible to simplify the implementation of the program in each module of the camera device.

  According to the invention of claim 4, the display unit displays the device driver of the module as a program in the program display area. Some modules constituting the camera apparatus execute assigned functions by driving hardware included in the modules. Therefore, when the display unit displays the device driver corresponding to the module, selection of a program according to need can be simplified. In the display unit, the program name of the device driver may be directly displayed, or the module name corresponding to the device driver may be displayed.

  According to the invention which concerns on Claim 5, the display part shall display the device driver corresponding to a module on a program display area based on hardware information. Thereby, since it can assist so that selection of a device driver may be promoted, selection of a program in system construction becomes easy.

  According to the sixth aspect of the present invention, the display unit displays image processing executable by the image processing module in the program display area. The camera device may be configured to include an image processing module for performing predetermined image processing on the image data before transferring the image data acquired by imaging to the external device. . Thus, by displaying image processing executable by the image processing module in the program display area, selection of image processing can be simplified.

  In addition, when the camera device is a compound eye type, it sets image processing to be executed on image data acquired by each imaging device. However, depending on the application of the camera device, common image processing may be executed on each image data acquired by a plurality of image sensors. Therefore, the processing method designating unit designates a processing method for determining whether or not to perform common image processing on a part or all of the plurality of image data. As a result, the image sensors that perform common image processing are grouped, and the display section divides the selected display area for each group according to the processing method. This makes it easy to select a program related to image processing.

  The image processing module may perform a plurality of image processing on the image data in a predetermined order. This is because even when similar image processing is executed, the result differs depending on the execution order. Therefore, in the selected selection display area, a plurality of selected image processes are displayed in the order of execution. As a result, the execution order of the image processing can be visually confirmed, so that it is possible to prevent the image processing order from being erroneously designated.

  According to the invention which concerns on Claim 7, it has a simulation part which performs an image process virtually. Image processing that can be executed by the image processing module includes binarization and filtering of image data. Furthermore, as described above, when a plurality of image processes are selected, the result may differ depending on the execution order. Therefore, the virtual result is simulated assuming that the image processing selected by the simulation unit is executed in the designated execution order. As a result, it is possible to determine whether the currently selected image processing is appropriate as the image processing required for the image processing module. Thereby, since appropriate image processing can be easily selected, the man-hour required for system construction of the camera device can be reduced. The simulation unit is for obtaining a result of virtual image processing, and image data to be subjected to image processing may be captured by a connected camera device or prepared in advance. It is good also as a sample.

  According to the invention which concerns on Claim 8, the suitability of the program selected by the determination part shall be determined. The display unit displays a program that can be mounted on the circuit element of the module in a selectable manner. By adopting the above configuration, it is possible to determine appropriateness before the selected program is mounted. . This can reliably prevent selection of an incorrect program.

  According to the ninth aspect of the present invention, the communication unit is communicably connected to the camera device by means of communication means in which the external communication module communicates with the external device. Here, the external communication module conforms to various communication protocols and communication standards, and has communication means corresponding to a data transmission path such as a coaxial cable and a USB. Therefore, by adopting a configuration in which the communication unit communicates with the camera device by the communication means of the external communication module, it is not necessary to provide a dedicated communication means for the external communication module, thereby reducing cost.

It is a conceptual diagram which shows an example of the use condition of the camera apparatus in embodiment. It is a schematic diagram of the camera apparatus comprised by selectively connecting a some module. It is a block diagram which shows a camera apparatus and a system construction apparatus. It is a figure which shows the display screen in a system construction apparatus. It is a figure which shows the state of the simulation of image processing. (A) shows the result of executing image processing in the order of noise removal and binarization, and (b) shows the result of executing image processing in the order of binarization and noise removal. It is a flowchart which shows the flow of the system construction of a camera apparatus. It is a block diagram which shows the camera apparatus and system construction apparatus in the 1st modification of embodiment. It is a block diagram which shows the camera apparatus and system construction apparatus in the 2nd modification of embodiment. It is a figure which shows the display screen of the system construction apparatus in the 3rd modification various of embodiment.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment in which a system construction device for a camera device according to the invention is embodied will be described with reference to the drawings.

<Embodiment>
(Configuration of the camera device 10)
First, the configuration of the camera device 10 to which the system construction device 20 of the present invention is applied will be described with reference to FIGS. In the present embodiment, the camera apparatus 10 is configured to be incorporated in the electronic component mounting apparatus 1. The electronic component mounting apparatus 1 is an apparatus for mounting a plurality of electronic components on a printed circuit board CB, for example, in an integrated circuit manufacturing process. Also, the printed circuit board CB is coated with solder at the mounting position of the electronic component by a cream solder printing machine, and is transported through a plurality of mounting devices in order to mount the electronic component. Thereafter, the printed circuit board CB on which electronic components are mounted is transported to a reflow furnace and soldered to form an integrated circuit.

  As shown in FIG. 1, the electronic component mounting apparatus 1 includes a control device 2 and a camera device 10. The control device 2 includes a CPU and a memory, and inputs a command value for the electronic component mounting device 1 and information output from the camera device 10 and a sensor. And the control apparatus 2 controls each axis motor, each apparatus, etc. of the electronic component mounting apparatus 1 so that an electronic component is mounted | worn appropriately to the printed circuit board CB based on these command values and various information. In the present embodiment, the camera device 10 is a compound eye type camera device having a plurality of image sensors, and when the electronic component mounting device 1 mounts the electronic component, the camera device 10 is moved to a specified position by a transport device such as a conveyor. It is used as a substrate camera that images the conveyed printed circuit board CB.

  More specifically, the camera device 10 that is a substrate camera images the printed circuit board CB that has been transported to a specified position and clamped based on an imaging command that is input through communication with the control device 2. Then, the camera device 10 performs predetermined image processing on the acquired image data and outputs it to the control device 2. Next, the control device 2 recognizes substrate marks provided at two opposite corners of the printed circuit board CB as reference positions based on a plurality of image data having different fields of view from the compound-eye camera device 10. As a result, the control device 2 can mount the electronic component at the set coordinate value. In other words, by correcting the position error that occurs when the printed circuit board CB is clamped based on the image data, the accuracy of component mounting is improved. Thus, in the present embodiment, the control device 2 is an external device positioned above the camera device 10, and the printed circuit board CB is a subject imaged by the camera device 10.

  In addition, the camera device 10 can be used for a component camera that captures the state of an electronic component sucked by a suction nozzle of a component mounting head, for example. In the present embodiment, the compound eye type is used, but the monocular camera device 10 can also be used in the electronic component mounting apparatus 1. In any case, the operation of the camera device 10 is controlled by the control device 2 which is a host device. The camera device 10 can also be incorporated into a board inspection apparatus that inspects the printed circuit board CB on which electronic components are mounted. In this case, the camera device 10 is used as an inspection camera that images the printed circuit board CB. Thus, the camera apparatus 10 can be used for purposes other than board production. In this case, a general-purpose personal computer or a dedicated image processing board is used as the host device.

  The camera device 10 is configured by detachably connecting modules selected from three or more modules having different functions. In the present embodiment, as shown in FIG. 2, the camera apparatus 10 captures an image among modules including an imaging module 11, an image processing module 12, an external communication module 13, an autonomous operation module 14, and a light source module 15. The module 11, the image processing module 12, and the external communication module 13 are selected one by one and connected in this order.

  The illustrated modules 11 to 15 have different functions. Each module 11-15 is provided with a plurality of types having similar functions. Each of the modules 11 to 15 includes a communication unit that can communicate with each other using a common signal that is shared, and is housed in a casing having the same shape provided with a detachable connecting unit. And the camera apparatus 10 can be selected from each module 11-15 according to a use, and can be combined freely. It is also possible to connect a plurality of modules of the same type. Details of functions and configurations of the modules 11 to 15 will be described later.

  The imaging module 11 is a module that acquires image data by imaging a printed circuit board CB as a subject with an imaging element (image sensor). As shown in FIG. 3, the imaging module 11 includes a PLD 11a, a memory unit 11b, and two image sensors 11c and 11d. The PLD 11a is a circuit element capable of mounting a program for executing an imaging function assigned to the imaging module 11. The PLD 11a is an integrated circuit capable of defining a logic circuit corresponding to the above program even after the imaging module 11 configures the camera device 10. More specifically, this corresponds to an FPGA (Field Programmable Gate Array), CPLD (Complex Programmable Logic Device), or the like.

  And the program is mounted by the system construction device 20 so that the PLD 11a has a function necessary as the imaging module 11 of the camera device 10. The programs installed in the PLD 11a are a device driver that operates each of the image sensors 11c and 11d, a communication program that communicates with the image processing module 12 connected thereto, and the like. The communication program can communicate with each other by a common signal shared between the modules 11 to 15. Therefore, the PLD 11a also functions as a communication unit in the imaging module 11.

  The memory unit 11 b is a flash memory that stores hardware information related to the configuration of the imaging module 11. Specifically, the hardware information includes the number of pixels of each of the image sensors 11c and 11d, the image transfer speed, and the like. The image sensors 11c and 11d are image sensors such as a CCD and a CMOS. The image sensor 11c is arranged so that its imaging surface is perpendicular to the optical axis of a lens provided in the imaging module. The image sensor 11d is similarly arranged with respect to a lens different from the image sensor 11c. These image sensors 11c and 11d convert the signal charges generated according to the intensity of the light imaged on the imaging surface by the lens into a digital signal and image the subject. The PLD 11a converts the image data into image data based on digital signals output from the image sensors 11c and 11d. In the present embodiment, the imaging module 11 has a compound eye type configuration including a plurality of image sensors 11c and 11d.

  The image processing module 12 is a module that executes image processing on the image data acquired by the imaging module 11. As shown in FIG. 3, the image processing module 12 includes a PLD 12a and a memory unit 12b. The PLD 12 a is a circuit element that can mount a program that executes an image processing function assigned to the image processing module 12. Since the PLD 12a of the image processing module 12 is the same as the PLD 11a of the imaging module 11, detailed description thereof is omitted.

  The programs mounted on the PLD 12 a of the image processing module 12 are an image processing program as a board camera, a communication program for communicating with the imaging module 11 and the external communication module 13 to be connected. This image processing program executes image processing so that the control device 2 that has input image data from the camera device 10 can recognize the substrate mark as a reference position. This image processing is, for example, binarization of image data, filtering, hue extraction, and the like, and is selectively implemented as necessary. In addition, the communication program performs communication using a common signal, similar to the one installed in the PLD 11a of the imaging module 11. Therefore, the PLD 12a also functions as a communication unit in the image processing module 12.

  The memory unit 12b is a non-volatile flash memory that can change the stored content by rewriting and retains the stored content even when the power is turned off. The memory unit 12b is used as an auxiliary storage unit, for example, temporarily holding image data during image processing by the PLD 12a.

  The external communication module 13 is a module that communicates with the control device 2 that is an external device. As shown in FIG. 3, the external communication module 13 includes a PLD 13a, a memory unit 13b, and an interface IC 13c. The PLD 13 a is a circuit element that can mount a program that executes an external communication function assigned to the external communication module 13. Since the PLD 13a of the external communication module 13 is the same as the PLD 11a of the imaging module 11, detailed description thereof is omitted.

  The programs installed in the PLD 13a of the external communication module 13 are a device driver that operates the interface IC 13c, a communication program that communicates with a connected image processing module, and the like. In addition, this communication program communicates with a common signal, similar to the one defined in the PLD 11a of the imaging module 11. Therefore, the PLD 13a also functions as a communication unit in the external communication module 13.

  The memory unit 13 b is a flash memory that stores hardware information related to the configuration of the external communication module 13. Specifically, the hardware information includes the transfer speed and transfer bus width of the interface IC 13c. The interface IC 13 c is an electronic circuit having a predetermined communication function that communicates with the control device 2. Such an interface IC 13c is designed according to various communication protocols and communication standards, and has a communication form corresponding to a data transmission path such as a parallel interface, a coaxial cable, or a USB.

  The autonomous operation module 14 is a module to which a function for automatically performing a predetermined operation in the camera device 10 based on image data acquired by the imaging module 11 is assigned. Examples of such functions include an automatic tracking function that changes the imaging direction of the camera device 10 in accordance with the movement of the subject, and an automatic imaging function that recognizes a specific mark of the subject and outputs an imaging command to the imaging module 11. The autonomous operation module 14 has a communication unit capable of communicating with other modules by a common signal regardless of the function. The communication unit of the autonomous operation module 14 may be configured to implement a communication program in a PLD or a microcomputer that executes an autonomous operation function.

  The light source module 15 is a module assigned with an illumination function for irradiating a subject when the camera device 10 performs imaging based on a control command of the control device 2 that is a host device. Such a light source module 15 may have a function of adjusting an irradiation amount according to a measurement value by an illuminance sensor using an LED or a light bulb as a light source. The light source module 15 includes a communication unit that can communicate with other modules by a common signal regardless of the configuration of the light source module 15. The communication unit of the light source module 15 may be a module that implements a communication program in a PLD or a microcomputer that performs an illumination function.

  The camera device 10 configured as described above, for example, captures an image of the printed circuit board CB based on an imaging command from the control device 2 and outputs image data that has undergone image processing to the control device 2. Thus, the camera device 10 is used as a board camera in the electronic component mounting apparatus 1. Here, when an imaging command is input to the camera device 10, the PLDs 11 a, 12 a, and 13 a of the modules 11 to 13 execute predetermined programs to execute imaging of an object, image processing, and output of image data. At this time, the PLDs 11a, 12a, and 13a of the modules 11 to 13 communicate with each other using a preset common signal. More specifically, the PLDs 11a, 12a, and 13a are connected in a bus format, for example, and perform synchronous or asynchronous serial communication at a predetermined transfer rate. With such a configuration, even when various modules are selectively connected to form a camera device, communication between the modules is possible.

  Further, when the power of the camera device 10 is turned on, the image processing module 12 inputs hardware information stored in the memory unit 11b of the imaging module 11 to be connected. As a result, the image processing module 12 inputs image data at a predetermined image transfer speed according to the hardware information related to the configuration of the imaging module 11, and executes image processing corresponding to a predetermined number of pixels. Similarly, the image processing module 12 inputs hardware information stored in the memory unit 13b of the connected external communication module 13. As a result, the image processing module 12 transfers the image data subjected to the image processing to the external communication module 13 according to the hardware information related to the configuration of the external communication module 13.

(Configuration of system construction device 20)
Next, the configuration of the system construction device 20 will be described with reference to FIGS. The system construction device 20 implements a function according to the application of the camera device 10 and includes dedicated software for the camera device 10 composed of a plurality of modules. As shown in FIG. 3, the system construction device 20 includes a communication unit 21, a program mounting unit 22, an information acquisition unit 23, a display unit 24, a simulation unit 25, a determination unit 26, and a sensor number setting unit. 31 and a processing method designating unit 32.

  Further, the system construction device 20 is intended to suitably mount a necessary program even when the camera device 10 configured by a plurality of modules is a compound eye type having a plurality of image sensors. Therefore, the system construction device 20 of this embodiment includes the sensor number setting unit 31 and the processing method designating unit 32 as described above. The sensor number setting unit 31 receives an input so as to set the number of image sensors provided in one or a plurality of imaging modules selected to configure the camera device 10. In the present embodiment, the camera apparatus 10 has an imaging module 11, and the imaging module 11 is provided with two image sensors 11 c and 11 d, so the number of image sensors (hereinafter also referred to as “the number of sensors”). ) Becomes 2. The number of sensors set by the sensor number setting unit 31 may be input by an operator of the system construction device 20, or hardware related to the camera device 10 connected to be communicable by an information acquisition unit 23 described later. It is good also as what acquires automatically based on information.

  When the number of sensors is 2 or more, the processing method designating unit 32 designates a processing method for determining whether or not to perform common image processing on part or all of the image data acquired by each image sensor. Accept input. The compound-eye camera device 10 can acquire image data captured by each image sensor. However, depending on the application of the camera device 10, common image processing may be performed on a plurality of image data. There is. Therefore, by designating the processing method by the processing method designating unit 32, the image sensors that output image data for which common image processing is executed are grouped in advance. Thereby, simplification of the system construction of the camera apparatus 10 is achieved.

  The communication unit 21 is communicably connected to the external communication module 13 configuring the camera device 10. In the present embodiment, the communication unit 21 is communicatively connected to the camera device 10 using a communication unit that communicates with the control device 2 that is an external device. That is, the camera device 10 and the communication unit 21 are connected by a data transmission path such as USB included in the selected external communication module 13.

  The program mounting unit 22 transfers the program displayed on the display unit 24 to the PLDs 11a, 12a, and 13a of the modules 11 to 13 via the communication unit 21 according to the number of sensors. This is because the transfer of the program according to the number of sensors assumes that the camera apparatus 10 is a compound eye type. More specifically, the program mounting unit 22 defines a logic circuit corresponding to the program in the PLD 11a that is an integrated circuit such as an FPGA with respect to the imaging module 11. As a result, the PLD 11a can be driven to perform a predetermined function. Similarly, the program implementation unit 22 defines the logic circuit by transferring the program to the other PLDs 12a and 13a via the communication unit. In the present embodiment, each of the modules 11 to 13 has the PLDs 11a, 12a, and 13a. However, for example, some or all of the modules 11 to 13 may have a microcomputer instead of the PLD. . In such a case, the program mounting unit 22 stores the program in a non-volatile memory housed in the microcomputer so that the microcomputer exhibits a predetermined function.

  The information acquisition unit 23 acquires module information of each module 11 to 13 selected to configure the camera device 10. The module information acquired by the information acquiring unit 23 includes functions assigned to the modules 11 to 13 and hardware information related to the configuration of the modules 11 to 13. Therefore, the information acquisition unit 23 acquires hardware information stored in the memory units 11b, 12b, and 13b of the modules 11 to 13 via the communication unit 21. Further, the hardware information includes the number of imaging modules constituting the camera device 10 and the number of image sensors provided in the imaging module. Based on this hardware information, the number of sensors, which is the total number of image sensors provided in the camera device 10, is calculated.

  As shown in FIG. 4, the display unit 24 displays selectable programs that can be installed in the PLDs 11 a, 12 a, and 13 a based on the module information of the modules 11 to 13 acquired by the information acquisition unit 23. The display unit 24 includes a program display area Fp that displays programs that can be installed in the PLDs 11a, 12a, and 13a as icons, and a selection display area Fs that displays icons of the selected programs. The program display area Fp includes device drivers of modules constituting the camera apparatus 10 and various image processes that can be executed by the image processing module 12 as mountable programs.

  The device driver displayed in the program display area Fp is a device driver corresponding to the module based on the hardware information acquired by the information acquisition unit 23, and is a program for driving the hardware included in the module. More specifically, what kind of image sensor 11c is provided in the imaging module 11 is acquired as hardware information, and a device driver necessary for operating the image sensor 11c is displayed. In the program display area Fp, the program name of the device driver may be directly displayed, but in the present embodiment, a device (image sensor 11c, interface IC 13c) corresponding to the selectable device driver is displayed. Like to do.

  The image processing displayed in the program display area Fp is displayed when the plurality of modules constituting the camera device 10 includes the image processing module 12 that executes image processing on the image data. In the present embodiment, since the image processing module 12 is included, the display unit 24 displays image processing executable as a program in the program display area Fp. Such device drivers and image processing are displayed as icons symbolizing the respective functions or processing. Then, by dragging and dropping this icon from the program display area Fp to the selection display area Fs, the program mounting unit 22 considers that a device driver or image processing corresponding to the icon has been selected. Conversely, by dragging and dropping an icon from the selection display area Fs to the program display area Fp, or deleting the icon in the selection display area Fs, the program implementation unit 22 selects the device driver or image processing corresponding to the icon. It is considered that it was canceled.

  Here, when a plurality of image processes are selected, the selected image processes are displayed in the designated execution order in the selection display area Fs. As shown in FIG. 4, the display unit 24 divides the selection display region Fs corresponding to the imaging module 11 according to the number of sensors set by the sensor number setting unit 31. Further, the display unit 24 divides the selection display area Fs corresponding to the image processing module 12 according to the processing method specified by the processing method specifying unit 32. In this embodiment, assuming that the number of common image processes is designated as 0, the number of sensors is divided by the number of sensors.

  Here, the image processing module 12 may execute a plurality of image processes on the image data in a predetermined order. This is because even when similar image processing is executed, the result differs depending on the execution order. For example, as shown in FIG. 5A, when binarization processing is executed after noise cancellation processing is performed on certain image data, image data as shown in the rightmost diagram is obtained. On the other hand, as shown in FIG. 5B, when the noise cancellation process is executed after the binarization process is performed on the same image data, the image data as shown in the rightmost figure is obtained. Thus, as shown in the rightmost diagrams of FIGS. 5A and 5B, since the results obtained by the image processing are different from each other, a plurality of selected images are selected in the selected selection display area Fs. By displaying the processes in the order of execution, the execution order is made visible.

  When one or more image processes are selected in the selected display area Fs, the simulation unit 25 assumes that the image processes have been executed in the designated execution order and simulates the image data after the execution. This is intended to determine whether the currently selected image processing and execution order are appropriate as functions required for the image processing module 12. The simulation unit 25 is for obtaining a result of virtual image processing, and the image data to be subjected to image processing may be one captured by the connected camera device 10 or previously. It may be a prepared sample.

  The determination unit 26 appropriately determines the program selected for the module based on the acquired module information. The display unit 24 displays selectable programs that can be installed in the PLDs 11a, 12a, and 13a of the modules 11 to 13, but before the logic circuit is defined in the PLDs 11a, 12a, and 13a, the program is determined by the determination unit 26. Confirm. That is, the determination unit 26 determines whether there is a program that is indispensable for the module, whether the program is selected, and whether a driver corresponding to the sensor or IC provided in the module is selected. It is.

(Implementation of program by system construction device 20)
The flow of system construction of the camera device 10 by the system construction device 20 will be described with reference to FIG. Here, a case where the camera apparatus 10 having the above configuration is targeted is illustrated. In other words, the camera device 10 is composed of modules 11 to 13 having three different functions, and each of the modules 11 to 13 has PLDs 11a, 12a, and 13a that can mount programs. Further, the camera device 10 is a compound eye type in which the imaging module 11 is provided with a plurality of image sensors 11c and 11d.

  First, as a preparation step (S10), the camera device 10 and the system construction device 20 are connected to prepare for communication (S101). Here, the external communication module 13 of the camera device 10 and the communication unit 21 of the system construction device 20 are connected. Then, the system construction device 20 communicates with the camera device 10 by communication means in which the external communication module 13 communicates with the control device 2. Next, the information acquisition part 23 acquires the module information of each module 11-13 via the communication part 21 (S102). Thereby, the number of modules constituting the camera device 10 and the function and hardware information for each module are input to the system construction device 20.

  Subsequently, the sensor number setting unit 31 sets the number of sensors provided in the camera device 10 based on the input hardware information (S103). Here, since the imaging module 11 constituting the camera device 10 includes the two image sensors 11c and 11d, 2 is set as the number of sensors. Next, when the number of sensors is two or more, the processing method designating unit 32 designates a processing method for determining whether or not to perform common image processing on the image data acquired by the image sensors 11c and 11d. (S104). Here, 0 is designated as the number of common image processes, assuming that different image processes are executed.

  As shown in FIG. 4, the display unit 24 displays a program that can be installed in each of the PLDs 11a, 12a, and 13a as an icon in the program display area Fp based on the acquired module information related to the camera device 10. The program displayed here includes module device drying and image processing as described above. The display unit 24 divides the selection display area Fs corresponding to the imaging module 11 and the image processing module 12 based on the set number of sensors and the designated processing method. Then, a program to be installed among the programs displayed as icons is dragged and dropped from the program display area Fp to the selection display area Fs to select a program (S20). Conversely, the program can be deselected by dragging and dropping the icon from the selection display area Fs to the program display area Fp, or by deleting the icon in the selection display area Fs.

  When the program selection is completed, a simulation is performed for the selected image processing (S30). When the processing confirmation button is pressed on the screen by the display unit 24 (see FIG. 4), the simulation unit 25 performs image processing displayed in the selected selection display area Fs for the sample image data prepared in advance. Are executed in the specified execution order. Here, sample image data is used, but image data actually captured by the camera device 10 may be used. Then, based on the image data obtained as the simulation result, it is determined whether the currently selected image processing and execution order are appropriate (S40).

  If it is determined from the simulation result that the current selection is not appropriate (S40: No), the process returns to S20 to adjust the selection and execution order of image processing. Then, if necessary, the simulation may be performed again (S30). If it is determined that the currently selected image processing and execution order are valid by repeating these steps (S40: Yes), the programs selected for all the modules constituting the camera device 10 are valid. (S50). In this case, when the determination button is pressed on the screen by the display unit 24 (see FIG. 4), the determination unit 26 executes the determination process. And the determination part 26 determines whether the program corresponding to the icon currently displayed on the selection display area | region Fs is appropriate based on the acquired module information.

  If the currently selected program is not appropriate as a result of the determination (S50: No), an error (not shown) is displayed to prompt reselection of the program, and the process returns to S20 to select a device driver or image processing. On the other hand, if the currently selected program is appropriate (S50: Yes), the program mounting unit 22 mounts the program via the communication unit 21 (S60). That is, the program mounting unit 22 transfers the program corresponding to the icon displayed in the selection display area Fs of the display unit 24 to the PLDs 11a, 12a, and 13a of the modules 11 to 13 via the communication unit 21. As a result, the PLDs 11a, 12a, and 13a can be driven so that a logic circuit corresponding to a program is defined and a predetermined function is exhibited. In this way, the implementation of the program by the system construction device 20 is completed, and the system as the camera device 10 is constructed.

(Effects of the system construction device 20)
The system construction device 20 described above performs system construction for the camera device 10 configured by connecting a plurality of modules having different functions. Since this camera apparatus 10 can connect a plurality of modules as required, it can be easily applied to various applications. Such a camera apparatus 10 may be a compound eye type depending on the module configuration. Then, the system construction device 20 is configured to transfer a program mounted on the PLDs 11a, 12a, and 13a of the modules 11 to 13 by the program mounting unit 22 according to the number of imaging elements. Thereby, even if it is compound eye type camera device 10, a plurality of programs according to the number of sensors are installed. Therefore, the camera device 10 is constructed in a system so that the functions assigned to the respective modules are exhibited by the installed program. Therefore, the degree of freedom in design is improved as compared with a conventional camera device, and a camera device that can cope with required functions and performance can be configured. The plurality of modules 11 to 15 can be designed and inspected in module units, and existing modules can be used. Thereby, compared with the case where a dedicated camera apparatus is manufactured, a development man-hour can be reduced significantly.

  Further, the display unit 24 displays a program that can be installed in the PLDs 11a, 12a, and 13a based on the module information in a selectable manner. Here, since the camera device 10 is configured by selecting a plurality of modules according to the usage or the like, the hardware configuration is not specified until the combination is determined. Therefore, first, when a combination of predetermined modules constituting the camera apparatus 10 is determined, module information such as what functions each module has is acquired by the information acquisition unit 23. About the acquisition method of module information, you may acquire by communicating with the camera apparatus 10 connected with the system construction apparatus 20, and you may acquire it by inputting the combination of the module determined by the user. And the display part 24 displays a program based on this module information, and the selection of a program is assisted and becomes easy. Therefore, the system construction of the camera device 10 can be simplified.

  Furthermore, programs that can be installed in the PLDs 11a, 12a, and 13a provided in the modules 11 to 13 are displayed on the display unit 24 as icons. A program can be easily selected by dragging and dropping this icon from the program display area Fp to the selection display area Fs. In such a configuration, the selection of the program can be canceled by dragging and dropping from the selection display area Fs to the program display area Fp. As described above, by assigning a function for selecting or canceling a program to a simple mouse gesture such as drag and drop, it is possible to simplify the implementation of the program in each of the modules 11 to 13 of the camera device 10.

  The display unit 24 displays a device driver corresponding to the module as a program in the program display area Fp based on the hardware information. Some of the modules 11 to 13 constituting the camera apparatus 10 execute assigned functions by driving hardware included in the modules. For this reason, the display unit 24 displays a device driver corresponding to the module, thereby assisting selection of the device driver. As a result, the system construction device 20 can simplify the selection of a program as necessary.

  The display unit 24 displays image processing executable by the image processing module 12 in the program display area Fp. The camera device 10 may be configured to include an image processing module 12. Therefore, by displaying image processing executable by the image processing module 12 in the program display area Fp, selection of image processing can be simplified. In the selection display area Fs divided according to the designated processing method, a plurality of selected image processes are displayed in the order of execution. As a result, the execution order of the image processing can be visually confirmed, so that it is possible to prevent the image processing order from being erroneously designated.

In addition, the system construction device 20 can simulate the image processing selected by the simulation unit 25 as executed in the designated execution order. This makes it possible to determine whether the currently selected image processing is appropriate as the image processing required for the image processing module 12. Thereby, since suitable image processing can be selected easily, the man-hour required for the system construction of the camera apparatus 10 can be reduced. Furthermore, the appropriateness of the program selected by the determination unit 26 is determined. Thereby, it is possible to determine appropriateness before the selected program is installed. This can reliably prevent selection of an incorrect program.
Furthermore, the communication unit 21 is assumed to be communicably connected to the camera device 10 by a communication unit that allows the external communication module 13 to communicate with an external device. Here, the external communication module 13 of the camera device 10 conforms to various communication protocols and communication standards, and has communication means corresponding to a data transmission path such as a coaxial cable or USB. Therefore, by adopting a configuration in which the communication unit 21 communicates with the camera device 10 by the communication means of the external communication module 13, it is not necessary to provide a dedicated communication means for the external communication module 13, and the cost can be reduced.

<First Modification of Embodiment>
A first modification of the embodiment will be described with reference to FIG. In the present embodiment, the camera device 10 that is the target of the system construction device 20 includes modules 11 to 13 having three different functions, and each module has PLDs 11a, 12a, and 13a that can mount programs. did. On the other hand, the system construction device 20 can also set a camera device configured by a module different from the above combination as a system construction target. For example, as shown in FIG. 7, the camera device 110 is configured by selecting the imaging module 111 and the external communication module 113 one by one from among three or more modules having different functions and detachably connecting them. It may be.

  The imaging module 111 is a module that captures an image of a subject with an imaging device and acquires image data, and includes a PLD 111a, a memory unit 11b, and two image sensors 11c and 11d as shown in FIG. . A program is installed in the PLD 111a by the system construction device 20 so as to have a function necessary as the imaging module 111 of the camera device 110. The only PLD 111a in the entire camera apparatus 110 includes a device driver for operating the image sensors 11c and 11d, a communication program for communicating with the external communication module 113 to be connected, and an image processing program according to the application. Etc. are implemented. This image processing program is the same as that installed in the PLD 12a of the image processing module 12 in this embodiment, and executes image processing on the image data acquired by the image sensors 11c and 11d. As described above, the imaging module 111 may be configured to have an image processing function equivalent to or simpler than the image processing module by an image processing program installed in the PLD 111a.

  The external communication module 113 is a module that communicates with the control device 2 that is an external device, and includes a memory unit 13b, an interface IC 13c, and a communication IC 113d as shown in FIG. The communication IC 113d can communicate with each other by a common signal shared between the modules. The communication IC 113d is interposed between the PLD 111a and the memory unit 13b of the imaging module 111 and between the PLD 111a and the interface IC 13c, thereby communicating an imaging command and image data between the control device 2 and the PLD 111a. It is possible. Here, the device driver of the interface IC 13 c is mounted on the PLD 111 a of the imaging module 111. As a result, the operation of the interface IC 13c is controlled by the PLD 111a of the imaging module 111 via the communication IC 113d. As described above, the camera apparatus 110 has a configuration in which the external communication module 113 does not have a circuit element such as a PLD, and the imaging module 111 controls the image processing and external communication in an integrated manner.

  In this modification, the system construction device 20 is targeted for the camera device 110 having the above-described configuration. In such a case, in the system construction device 20, in the preparation step (S10), the camera device 110 is configured by two modules, and acquires the function and hardware information for each module. Then, the system construction device 20 displays a program that can be installed in the PLD 111a on the display unit 24 based on the hardware information. Thereafter, image processing simulation or program suitability is determined as necessary, and the program is transferred to the PLD 111a via the communication unit. Thereby, the PLD 111a is defined as a logic circuit corresponding to a program, and can be driven so as to exhibit a predetermined function. In this way, the implementation of the program by the system construction device 20 is completed, and the system as the camera device 110 is constructed. As described above, if at least one of the plurality of modules constituting the camera device is provided with a circuit element capable of mounting a program, the system construction device 20 can construct the system for the camera device. Is possible.

<Second Modification of Embodiment>
A second modification of the embodiment will be described with reference to FIG. In the present embodiment, the camera device 10 that is the target of the system construction device 20 is programmed in the PLDs 11a, 12a, and 13a provided in the modules 11 to 13 in a state where the modules 11 to 13 having three different functions are connected. It was assumed that the system was constructed. On the other hand, the system construction device 20 may have a configuration in which a program is mounted on a circuit element such as a PLD provided in the module for each unconnected module.

  In such a configuration, first, the system construction device 20 is connected to the modules 11 to 13 via the adapters 51 to 53 as shown in FIG. And a program is mounted in PLD11a, 12a, 13a, and the camera apparatus 10 is comprised by connecting each module 11-13 so that attachment or detachment is possible after that. In this way, the system construction device 20 can construct a system for the camera device 10 even in the camera device 10 to which the modules 11 to 13 are not connected.

<Third Modification of Embodiment>
A third modification of the embodiment will be described with reference to FIG. In the present embodiment, the camera device 10 that is the target of the system construction device 20 is configured from modules 11 to 13 having three different functions. On the other hand, a camera device configured by adding the same type or another type of module may be the target of the system construction device 20.

  For example, it is assumed that an imaging module having one image sensor is added to the camera device 10 of the present embodiment. Further, it is assumed that the processing method designating unit 32 designates a common image processing and a processing method for one imaging module. Then, as shown in FIG. 9, the display unit 24 displays the selection display areas Fs corresponding to the two imaging modules in a divided manner according to the module configuration and the number of sensors set by the sensor number setting unit 31. Further, the display unit 24 displays the selected display area Fs corresponding to the image processing module in a divided manner according to the designated processing method. As a result, image sensors that perform common image processing are grouped.

  As described above, in a compound-eye camera device, common image processing may be performed on each image data acquired by a plurality of image sensors depending on the application. Therefore, as illustrated in the present modification, the selection display area Fs is divided by the processing method designating unit 32 so that the processing method is designated and the image sensors are grouped. This makes it easy to select a program related to image processing.

1: Electronic component mounting device 2: Control device 10, 110: Camera device 11, 111: Imaging module 12: Image processing module 13, 113: External communication module 14: Autonomous operation module 15: Light source module 11a, 12a , 13a, 111a: PLD, 11b, 12b, 13b: Memory unit 11c, 11d: Image sensor, 13c: Interface IC
113d: Communication IC
20: System construction device 21: Communication unit 22: Program implementation unit 23: Information acquisition unit 24: Display unit 25: Simulation unit 31: Sensor number setting unit 32: Processing method designating unit 51, 52, 53: Adapter CB: Printed circuit board (subject), Fp: Program display area, Fs: Selection display area

Claims (12)

System construction that implements a function according to the application of the camera device , targeting a camera device that captures an image based on an imaging command input by communication with an external device and outputs image data acquired by the imaging to the external device A device,
Excluding the imaging module does not have a function of communicating with the by imaging a subject and obtains the image data the external device by the imaging device, and an external communication module in communication with the external device, the imaging module and the external communication module Three or more modules having different functions, including a third module, between the imaging module and the external communication module, between the imaging module and the third module, and between the external communication module and the A communication program that can communicate with each other by a common signal that is shared with the third module is implemented,
The camera device is configured by detachably connecting a plurality of the modules selected so as to include at least the imaging module and the external communication module among the three or more modules .
Among the plurality of modules constituting the camera device, at least one of the modules is provided with a circuit element capable of mounting a program for executing a function assigned to each of the modules,
The system construction device
A setting unit for setting the quantity of the imaging elements provided in the selected one or a plurality of the imaging modules;
A communication unit communicably connected to the camera device;
A program mounting unit for transferring the program to be mounted on the circuit element of the module and the common communication program to be mounted on all the modules ;
Equipped with a,
The program mounting unit sets the number of the imaging elements set by the setting unit when mounting the program for executing the imaging function of one or a plurality of the imaging modules constituting the camera device on the circuit element. A system construction device for a camera device that transfers the program accordingly . In claim 1,
The system construction device
An information acquisition unit for acquiring module information including the function related to the selected module;
A display unit for selectively displaying the program that can be mounted on the circuit element of the module based on the acquired module information;
Further comprising
The system implementation device for a camera device, wherein the program mounting unit transfers the program selected in the display unit to the circuit element of the module. In claim 2,
The display unit includes a program display area that displays the program that can be mounted on the circuit element as an icon, and a selection display area that displays the icon of the selected program.
When the icon is dragged and dropped from the program display area to the selection display area, the system construction apparatus for a camera apparatus displays the program displayed by the icon as being selected in the selection display area. In claim 3,
The display unit is a system construction device of a camera device that displays a device driver of the module as the program in the program display area. In claim 4,
The module information of the module includes hardware information related to the configuration of the module,
The display unit is a system construction device for a camera device that displays the device driver corresponding to the module on the program display area based on the acquired hardware information. In any one of Claims 3-5,
Processing the quantity of the image pickup device in the case where 2 or more, specifying whether the processing method to perform common images processing for some or all of the image data acquired by each of the image pickup device It further includes a method specifying part,
When the display unit includes an image processing module that performs image processing on the image data in the plurality of modules constituting the camera device, the image processing executable as the program is performed in the program display area. A system construction device for a camera device that displays the image processing selected in the selected display area divided according to the processing method in the designated execution order. A system construction device for a camera device,
The camera device includes at least the imaging module among three or more modules having different functions including an imaging module that captures an image of a subject by an imaging element and acquires image data, and an external communication module that communicates with an external device. A plurality of the modules selected to include the external communication module are detachably connected, and
Among the plurality of modules constituting the camera device, at least one of the modules is provided with a circuit element capable of mounting a program for executing a function assigned to each of the modules,
The system construction device
A setting unit for setting the quantity of the imaging elements provided in the selected one or a plurality of the imaging modules;
A communication unit communicably connected to the camera device;
An information acquisition unit for acquiring module information including the function related to the selected module;
A display unit for selectively displaying the program that can be mounted on the circuit element of the module based on the acquired module information;
Processing the quantity of the image pickup device in the case where 2 or more, specifying whether the processing method to perform common images processing for some or all of the image data acquired by each of the image pickup device A method specification section ;
A program mounting unit that transfers the program selected in the display unit as the program to be mounted on the circuit element of the module according to the number of the imaging elements;
With
The display unit
A program display area that displays the program that can be mounted on the circuit element as an icon, and a selection display area that displays the icon of the selected program,
When the image processing module for executing image processing on the image data is included in the plurality of modules constituting the camera device, the image processing executable as the program is displayed in the program display area, A system construction device for a camera device that displays the selected image processing in a designated execution order in the selection display area divided according to a processing method. In claim 6 or 7 ,
A simulation unit for simulating the image data after execution assuming that the image processing is executed in a designated execution order when one or more of the image processes are selected in the selected selection display area A system construction device for a camera device further comprising: In any one of Claims 2-8 ,
A system construction device for a camera device, further comprising a determination unit that determines appropriateness of the program selected for the module based on the module information. In any one of Claims 1-9 ,
The communication unit is a system construction device of a camera device that is communicably connected to the camera device by a communication unit that communicates with the external device. In any one of Claims 1-10,
The external communication module is compliant with a communication protocol or communication standard defined by the external device to be communicably connected, and can communicate with the external device by a communication unit corresponding to a specified data transmission path. Has an external communication function,
The program implementation unit is a system construction device for a camera device that transfers the program for executing the external communication function to the circuit element of the module. In any one of Claims 1-11,
The program implementation unit includes the autonomous operation function when the plurality of modules constituting the camera device include an autonomous operation module having an autonomous operation function that automatically performs a predetermined operation based on the image data. The system construction apparatus of the camera apparatus which transfers the program which performs this to the circuit element of the module.