* NOTICE*
`
`JPO and INPIT are not responsible for any damages caused by the use of this transiation.
`
`4. This document has been translated by computer. So the translation may not reflect the original precisely.
`
`2. *** shows a wordwhich cannot be transiated.
`
`3. in the drawings, any wards are not translated.
`
`Publication Number
`
`JP20070474364
`
`Bibliography
`(19) [Publication country] JP
`
`(2) [Kind of official gazette] A
`(11) [Publication number] 2007047436
`{43} [Date of publication of application) 20070222
`
`($4) [Title of the invention] REMOTE INSTRUCTION SYSTEM
`(51) [international Patent Classification]
`
`GO3B 21/00
`
`(2006.07)
`
`HO4N
`
`8/222
`
`(2006.01)
`
`[Fa
`
`GO3SB 21/00
`
`0
`
`
`
`HO4N=5/222 Zz
`
`(21} [Application number] 2005231646
`
`(22) Filing date} 20050810
`
`(71) f[Appiican|]
`
`Name} FUJI XEROX COLTD
`
`(72) [inventor]
`
`[Full name] ICHIKAWA YUICHI
`
`iTheme code (reference)]
`
`2K103
`
`5C 122
`
`fF-term (reference) ]
`
`2K103AA16
`
`2K103AA22
`
`Z2K103AB10
`
`2K103BC03
`
`2K103BC47
`
`

`

`Z2K103CA20
`
`2K103CA34
`
`2K103CA5S
`
`2K103CA73
`
`5C122DA08
`
`SCTZZEASY
`
`SC TZZEART
`
`SCIZZEAGS
`
`SC 122FB03
`
`5C122F B43
`
`SC122F E02
`
`SC 122F E05
`
`SC 122FK23
`
`SC 122FL02
`
`SC1TZ2FLO5
`
`SC1226C01
`
`SC1226C014
`
`SC 1226017
`
`SCIZEGEOI
`
`5C122HAS82
`
`5C122HA8S
`
`SC122HR05
`
`Abstract
`
`(57) (Overview!)
`PROBLEM TO BE SOLVED: To provide a small-sized low-cost remote instruction
`
`system designed such that an arbitrary area of a sublect can be observed at a variable
`
`magnification on the remote terminal side and the size and cost of the system are
`
`reduced.
`
`SOLUTION: The remote instruction system includes a camera 20 and a projector 40,
`
`transmits a pickup image to a remote terminal 100, and projects an annotation image
`
`onto a subject 200 according to an instruction based on the pickup image oblained at
`
`the remote terminal 100. The remote instruction system includes: a zoom function that
`
`alters the imaging magnification of the camera 20; and a direction alteration mechanism
`
`260 having a fotai reflection mirror 261 disposed in an optical path between a subject
`
`200 and the camera 20 and alters the direction of imaging. The remote instruction system
`
`

`

`controls the zoom function of the carnera 20 and the direction alteration mechanism 260
`
`according to an instruction from the remoteterminal 1G0. This allows observation of an
`
`arbitrary area of a subject ai a variable magnification on the remote terminal side as well
`
`as a decrease in the size of the system.
`
`Claim
`
`[Patent Claims]
`
`iClaim 7]
`This remote instructing systemis provided with an imaging means for imaging an object,
`
`@ projection means for projecting an image on the object, and a remote instruction
`
`systemfor transmitting 4 captured image of the imaging means to the remote terminal
`and projecting an annotation image based on an instruction based on the captured image
`
`made by the remote terminal onto the object by the projection means.
`
`A magnification changing means for changing an imaging magnification of the imaging
`
`means ;
`
`A direction changing means is provided in an optical path between the subject and the
`imaging means and changes an imaging direction of the imaging means with respect to
`
`the subject and a projection direction of the projection means with respect to the subject.
`
`The remoteinstruction system according to claim 1, wherein the magnification changing
`
`unit and the direction changing unit are controlled in response to an instruction from the
`
`remote terminal,
`
`[Claim 2]
`
`The magnification changing means includes a variable focus lens constituting an optical
`
`system of the imaging means.
`
`A remote pointing system according to claim 1, wherein said system comprises :.
`iGlaim 3]
`
`The direction changing meansincludes a mirror which reflects ight from the subject to
`
`the imaging means and reflects the projection image of the projection means toward the
`
`subject, and a driving mechanism which changes the direction of the mirror,
`
`A remote pointing system according to claim 1 or 2.
`
`Claim 4]
`
`The magnification changing means changes a projection magnification of the prajection
`
`means according to 4 change in an imaging magnification of the imaging means.
`
`A remote pointing system according to claim 1, wherein said system comprises :.
`
`fClaim 5}
`
`The magnification changing means includes a zoomlens provided in an optical path
`
`

`

`between the subject and the imaging means and the projection means.
`
`A remote pointing system according to claim 4, wherein said system comprises«.
`
`Description
`
`[Detailed description of ihe invention]
`
`[Technicalfield]
`
`(0004)
`
`The present invention relates to a remote instruction system capable of instructing an
`image projection from a rernote terminal to an object while remotely observing an object.
`
`{Background of the Invention]
`
`{0002}
`For example,
`
`in a remote repair system, a remote maintenance system, a remote
`
`medical system, a remote conference system, or the lke,
`
`it is necessary to perform
`
`various instructions such as an instruction of a work procedure from a remote side toward
`an actual object side. As a remote instructing sysiem capable of giving an instruction
`
`from the remote side to the real object side, for example, a subject existing on the real
`object side is imaged by @ video camera and the captured image is transmitted to a
`
`remote terminal. A technique of projecting an annotation image instructed on a remote
`
`terminal at a remote terminal based on a captured image onto a subject by a projector
`
`an a real object side is known (for example, refer to Patent document 1).
`
`[Patent document 1}U.S. Patent Publication No, 2004/0070674
`
`[Disclosure of invention}
`
`iProbiem to be solved by the invention]
`
`fo003]
`
`in the above-described remote commander system, when a user wants to see a more
`detailed irmage of a subject at a remote terminal, it is necessary to issue an instruction
`
`from a camera remote terminal to an operator or the fike on the subject side so as to
`
`bring the subject closer to the camera. To eliminate the complexity of such operation, for
`
`example, a zaam function is provided in the camera, and zooming up is performed in
`
`response fo an instruction fram the remote terminal side.
`
`it is conceivable to view an enlarged image of an object.
`
`However, whena fixed camera is simply provided with a zoom fens and an enlarged
`
`image of an object is to be viewed, only an area located at the center of the screen of
`
`the object is enlarged, and an arbitrary area of the object cannot be enlarged. To enlarge
`
`an arbitrary area of an object, it is necessary te adopt a configuration in which a camera
`
`

`

`and a projector are installed in a punch stage to remotely control an observation direction
`
`with respect to an abject, or the like, or 4 configuration in which @ position of an object to
`
`a camera is remotely controlled by placing a subject on a movable stage movable in 2
`
`axial directions.
`
`However, when such a configuration is employed, there is a problem that the system
`
`becomes large and expensive.
`
`jo004]
`
`The present invention has been made in view of the above circumstances, and an object
`of the present invention is to provide a remote instruction system which can be instructed
`
`by projecting an annotation image on a subject based on a captured image from a remote
`
`terminal while observing @ captured image of a subject at a remote terminal. To previde
`a remote pointing system which can be observed by magnifying an arbitrary area of an
`
`object at a remote terminal side-and which is miniaturized and at low cost.
`
`{Means for solving the problem]
`{0005}
`
`A remote instructing system according to a 1 aspect of the present invention is a remote
`instructing system for imaging an object, projecting an image on a subject, transmitting
`
`a captured image of the imaging means fo a remote terminal, and projecting an
`
`annotation image based on an instruction based on a captured image made at a remote
`
`terminal onto a subject by a projection means. This device has a magnification changing
`
`means for changing an imaging magnification of an imaging means, and 4 direction
`
`changing means which is provided in an optical path between an object and an imaging
`
`means and changes an imaging direction of the imaging means with respect to the object,
`
`and controls the magnification changing means and the direction changing means
`
`according to an instruction from the remote terminal.
`According to this configuration, the direction changing means for changing the imaging
`
`direction of the imaging means with respect io the subject is provided in the optical path
`
`between the subject and the imaging means. To change an imaging area of a subject
`
`withoul changing @ positional relationship between an object and an imaging means, and
`
`enlarge or reduce an imaging area whose imaging magnification is changed by a
`
`magnification changing means to observe an enlarged image or a reduced image ai a
`
`remote terminal,
`
`foods}
`in the above configuration, the magnification changing unit may be configured to include
`
`4 variable focus lens constituting an optical system of the imaging unit.
`
`According te this configuration, by using the vanabie focus lens provided in the CCD
`
`

`

`icharge coupled device) camera or the like as the magnification changing unit, it is not
`
`necessary fo newly prepare the magnification changing unit, and it is possible to reduce
`
`the cost of the system.
`
`{0007}
`
`in the above configuration, ine direction changing unit may include a mirror that reflects
`
`fight fron the subject to be reflected to the imaging unit and reflects the projection image
`
`of the projection unit toward the subject, and a driving mechanism that changes the
`direction of the mirror.
`
`According to this configuration, since the imaging direction of the imaging means can be
`
`changed only by appropriately changing the angle of the mirror, the direction changing
`
`means can be reahzed with a relatively simple configuration, and the cost of the system
`
`can be reduced.
`
`{O008}
`
`in the above configuration, the magnification changing unit may be configured to change
`the projection magnification of the projection unit according to a change in an imaging
`
`magnification of the imaging unit
`According to this configuration, the imaging area and fhe projection area of the subject
`can be simultaneously changed without changing the positional relationship between the
`
`subject and the imaging unit and fhe projection unit. Enlargement and reduction of an
`
`imaging area and an annotation image can be simultaneously performed by a
`
`magnification changing means, and an annotation image enlarged and reduced in
`
`accordance with enlargement and reduction of a subiect can be observed at a remote
`
`terminal.
`
`{o009}
`
`in the above configuration, the magnification changing means is disposed in an aptical
`path between the subject and the imaging means and the projection means.
`
`A configuration including a zoom lens provided therein can be employed.
`
`According to this configuration, by arranging the zoom fens in the aptical path beiween
`
`the subject and the maging means and the projection means, the imaging maqnification
`
`and the projection magnification can be simultaneously changed.
`
`fEffect of the Invention]
`
`{0070}
`
`According to the present invention, itis possible to obtain a remote painting system which
`
`can be observed by magnifying an arbitrary area of an object at a remote terminal side
`and which is miniaturized and at low cost.
`
`

`

`iBest mode for carrying out the invention]
`
`{O04 1]
`
`Hereinafter, a preferred embodiment of the present invention will be described with
`
`reference to the accompanying drawings.
`
`FIGS.
`
`1
`
`to 4 show an embodiment of the present invention, wherein FIG.
`
`1
`
`B&B a
`
`configuration diagram of a remote pointing system, FIG. 2 is an external perspective view
`
`of an imaging projection unit, FiG. 3 is a view of an inside of an imaging projection unit
`
`as seen from above, and FIG. 4 is a diagram showing a Structure of a direction changing
`mechanismas a direction changing unit.
`
`{0042}
`
`AS shown in FIG. 1, the remote pointing system includes a subject side device 10. a
`remate terminal 100, andthe like, and the subject side device 10 and the remote terminal
`
`700 are connected to each other through a network 300 so 4s to be able fo communicate
`
`In FIG. 1, anly one remote terminal 100 is shown, but @ plurality of
`with each other.
`remote terminals 100 are connected to a server 50, which will be described later, of the
`
`subject side device 70 thraugh the network 300.
`{0043}
`
`The subject side device 10 includes an imaging projection uni 11, a server 50 as 4
`
`control means, 4 rotation table 250for rotating the subject 200, and the like.
`
`{O01}
`
`As shown In FIGS. 4 to 3, the imaging projection unit 11 includes @ camera 20 as an
`
`imaging means, a projector 40 as a projection means, a direction changing mechanism
`
`260 as a direction changing means, a half mirror 30, an antireflection optical trap 280,
`
`and the like, and these constituent elements are incorporated in a housing.
`
`[6045]
`The camera 20 is constituted by, for example, a CCD camera, and is arranged at a
`
`position where an optical image of an object 200 reflected by a total reflection mirror 261
`
`and a half mirror 30, which wil be described later, of the direction changing mechanism
`
`260 can be picked up, and the captured image is taken into the server 50, as shown in
`
`FIG. 3. Further, the camera 20 has a zoom function as a magnification changing means
`
`for changing an imaging magnification which is constituted by a variable focus fens (not
`
`shown) in the optical systeni.
`
`{0016}
`
`The projector 40 is arranged so that its angle of view substantially matches an angie of
`
`view of the camera 20 on the subject 200, and projects an image toward the half mirror
`
`30. A liquid crystal projector or thelike is used as the projector 40.
`
`

`

`[0047]
`
`The light trap 280 is disposed to face the camera 20 via the half mirror 30, and is provided
`
`to prevent the reflected light reflected by the half mirror 30 from returning into the optical
`
`path between the subject 200 and fhe camera 20, among the image light projectad by
`
`the projector 40.
`
`(0018)
`
`As shown. in FIG. 3, the direction changing mechanism 260 includes 4 total reflection
`
`mirror 264, a driving mechanism 262, and the lke. Controlled by server 50, itis provided
`
`in.an optical path between subject 200 and camera 20 and changes an imaging direction
`
`of camera 20 relative to subject 200 and a projection direction of projector 40 relative to
`
`subject 200.
`{0019}
`
`The total reflection mirror 261 reflects light fram the subject 200 to the camera 20 via the
`
`half mirror 30, and reflects the projection image of the projector 40 toward the subject
`
`200,
`
`As shown in FIG. 4, the drive mechanism 262 includes a goniostage 262 A that holds
`
`the total reflection mirror 261, a rotation stage 262 B that hokis the gonio stage 262 A,
`and the like.
`
`The goniastage 282 A is driven by a motor to change the direction of the total reflection
`
`mirror 264 in the tit direction (vertical direction) about ihe axis CT 7.
`
`The rotation stage 262 B is driven by a motor to change the direction of the pan direction
`
`{horizontal direction) of the total reflection mirror 261 about the axis CT 2.
`
`Accordingly, by combining the gonio stage 262 A and the rotation stage 262 B, the drive
`
`mechanism262 can change the direction of the total reflection mirror 261 to an arbitrary
`
`direction.
`
`{0020}
`
`As shown in FIG. 1, the server 50is connected to the camera 20, the projector 40, the
`
`direction changing mechanism 260, and the like, and controls these operations, and
`transmits and receives various information to and fram the remote terminal 100 via the
`
`network 300.
`
`Further, the server 50 transmits a captured image of the camera 20 to the remote
`
`terminal 100 and causes the projector 40 to project an annotation image corresponding
`
`to an instruction based an the captured image made at the remote terminal 100 onto the
`
`subject 200. Note that the annotation image includes an image of any form such as a
`
`line, a character, or a figure.
`
`

`

`Further, the server 50 controls the zoom function of the direction changing mechanism
`
`260 and the camera 20 in response to an instruction from the remote terminal 100.
`
`[0024]
`
`As shownin FIG, 1, the remote terninal 100 includes a display device 110 including a
`
`quid crystal display device and a CRT, @ computer 120 cannected to the network 300,
`
`a painting device (mouse or pen tablet} 130 connected to the computer 7120, and the like.
`
`The display device 110 displays an hnage transmitted frorn the subject side device 10
`
`on the display screen.
`
`A pointing device (a mouse or a pen tablet} 190 operates various buttons by a pointer on
`
`a display screen on which a captured image is displayed. An instruction for drawing an
`
`annotation image fo be projected onto the subject 200, a zoom-in instruction for eniarging
`a desired area in the subject 200, a zoom-dawn instruction for reducing and displaying
`
`the subject 200, aninstruction for rotating the subject 200, and the like are used,
`
`[0022]
`FIG. 5 is a diagram for explaining an example of an operation on the display screen af
`
`the display device 110.
`When the operator of the remote terminal 100 projects an annotation image an the
`
`subject 200, as shown in FIG. 5, the operator operates the mouse 430 and various
`
`buttons BT on the display screen on the basis of the captured image of the subject 200
`
`to execute a drawing instruction on the subject 200. The computer 126 issues a drawing
`
`command corresponding to the drawing instruction of the operator and transmits if to the
`
`server 50. in the server 50, an annotation image corresponding to a drawing command
`
`is formed, and the annotation image is projected onto a projector toward a subject 200.
`
`Ai this time, an image taken by the camera 20 is transmitted from the server 50 to the
`
`computer 120, and a subject 200 on which an annotation image DR is projected is
`displayed on a display screen of the display device 170 as shown in FIG. 5 a,
`
`{0023}
`
`Whenit is desired to enlarge and display a desired area of the subject 200 on a display
`
`screen of the display device 110, an operator of the remote terminal 100 operates the
`
`mouse 130 and various buttons BT to instruct an area where the subject is desired to be
`
`zoomed up on the display screen as shown in FIG. 2 a.
`
`in the remote terminal 100, a command for instructing zoom-in of an area instructed by
`
`an operation by an operator is generated and transmitted to the server 50.
`
`The server 50 receives a command for instructing zoom up, and controls the zoom
`
`function of the direction changing mechanism 260 and the camera 20. Specifically, the
`
`server 50 Includes a gonio stage 262 A.
`
`

`

`Then, the direction of the total reflection mirror 261 Is changed sa that an area to be
`
`zoomed up of the subject 200 shown in FIG. 2 a is located at the centerof the screen by
`
`controlling the rotation stage 262 8, and a necessary imaging magnification is
`
`determined from the size of the designated area, and the zoom functon of the camera
`
`20 is cortrolied.
`
`Thus, the carnera 20 enlarges an area of the subject 200 instructed by an operator at an
`
`appropriate imaging magnification and captures an image, and a captured image ofthe
`camera 20 js transmittedfrom the server 50 to the remote terminal 100, and an enlarged
`
`image of an instruction area of the subject 200 is displayed on a display screen of the
`
`display device 110 as shown in FIG. 2 b.
`fo0z4]
`
`As described above, according to this embodiment, a total reflection mirror 267 capable
`
`of changing the direction is provided in an optical path between the caméra 20 and ihe
`subject 2060, Without changing the relative position of the camera 20 and the subject 200,
`
`the imaging direction of the camera 20 with respect to the subject 200 can be changed
`in response to a request from the remote terminal 100, and by uttizing the zoom function
`
`of the camera 20, the imaging magnification of a desired region of the subject 200 can
`
`be changed. As a result, a large device for changing the positional relationship between
`
`the camera 20 and the subject 200 is nat required, and the system can be simplified and
`
`cost reduction can be achieved.
`
`{0025}
`
`FIGS, 6 and 7 are views showing a modification of the imaging projection unit described
`above, wherein FIG. 6 is an external perspective view and FRG. 7 is a side view of an
`
`inside of an imaging projection unit. In FIGS. 6 and 7, the same reference numerals are
`
`used for the same components as in the above embodiment.
`
`A difference beiween the imaging projection unit 11 A and the imaging projection unit 17
`
`Ais the arrangement of ihe components.
`
`The imaging projection unt 77 has a camera 20, a half mirror 30, a projector 40, a
`
`direction changing mechanism 260, and the like arranged on a plane.
`
`In the imaging
`
`projection unit 11 A, a camera 20, a half mirror 30, a direction changing mechanism 260,
`
`and the lke are arranged along the vertical direction, and imaging and image projection
`
`aré performed using a space formed above the projector 40.
`
`With such a vertical arrangement, the installation space of the imaging projection unit
`
`can be reduced.
`
`[0026]
`
`

`

`FIG. 8 is a diagram ustrating an internal configuration of an imaging projection unit used
`
`ina remote pointing system according to another embodiment of the present invention.
`
`in FIG. 8, the same reference numerals are used for the same companents as in the
`
`above embodiment.
`
`The imaging projection unit 11 8 and the imaging projection unit 11 A shown in FIG. 7
`
`differ from eachother in that the imaging projection unit 11 B includes a zoomlens 270
`
`as a magnification changing unit between the half mirror 30 and the total reflection mirror
`
`261. in other words, the zoom lens 270is provided in an optical path belhveen the subject
`200 and the camera 20 and the projector 40.
`
`(0027)
`
`The zoom jens 270 is driven by an actuator 274, and the actuator 271 is controlled by
`the server S0 in response to an instruction from the remote terminal 100.
`
`in the above embodiment, even when the imaging magnification of the subject 200 is
`
`changed using the zoom function of the camera 20, the projection magnification of the
`annatation image projected from the projector 40 is constant.
`
`in this embodiment, by providing the zoom lens 270 in an optical path between the
`subject 200 and the camera 20 and the projector 40, the projection magnification of the
`
`projector 40 can be changed in accordance with the change in the imaging magnification
`
`of the subject 200.
`
`[0028]
`
`in the above embodiment, the case in which the remote terminal 100 is connected to the
`
`server 50 by the network 300 has been described, but the present invention is not limited
`
`thereto, and the remote terminal 100 may be connected to the server 50 by other means,
`
`or the remote terminal 100 may be disposed on the side of the subject 200.
`
`[O029]
`
`in the above embodiment, a system in which a rotation stage for rotating the subject 200
`
`is provided and the relative position of the subject 200 and the imaging projection unit
`
`can be changedhas been described, but the present invention is not limited thereto, and
`
`the present invention can be applied without a rotation stage.
`
`[0030]
`
`in the above embodiment, a projector is used as the projection means, but the present
`
`invention is not fimited thereto, and itis alse possible to farm an image by irradiating a
`
`target object with fight of a laser beam by scanning with a galvanometer mirror.
`
`[00314]
`
`in the above embodiment, a case has been described in which the drive mechanism is
`
`

`

`composed of a rotary stage and a goniestage, but the present invention is not limited
`
`thereto, and other mechanisms can be employed as long as ihe mechanism can change
`the direction of the total reflection mirror 261.
`
`[0032]
`
`in the above embodiment, a case in which the drive mechanism is controlled by the
`
`server has been described, but the present invention js not iimited thereta, and a
`
`dedicated controller may be provided.
`
`{Brief Description of the Drawings]
`[0033]
`
`[Fig. 1]FIG. 1 is a configuration diagram of a remote instruction system according to an
`
`embodiment of fhe present invention 5.
`[Fig. 21F1G, 2 is an external perspective viewof an imaging projection unit :.
`
`[Fig. S]F1G. 3 is 4 view of an inside of an imaging projection unit as viewed from above |.
`
`[Fig. 4]it is the fiqure showing the structure of a direction variation mechanism.
`[Fig. S]FIG. 4 is a diagram for explaining an exarnple of an operation on a display screen
`
`of a display device ;.
`{Fig. GIFIG. 4 is an external perspective view showing @ modification of an imaging
`
`projection unit :.
`
`[Fig. 7]FIG. 3 is a view of an inside of an imaging projection unit viewed from a side :.
`
`[Fig. 8]FIG. 1 is a diagram showing an internal configuration of an imaging projection unit
`
`used in a remote pointing system according to another embodiment of the present
`
`invention :.
`
`fExplanation of letters or numerais]
`
`[0034]
`40.
`
`20. camera (maging means)
`
`AQ -- Projector (projection means}
`50.
`
`300 -- Remote terminal
`
`110 -- Display device
`
`t71 -- Display screen
`
`120.
`
`730 ~- Pointing device
`
`200 ~- Object
`
`260. direction changing mechanism (direction changing means)
`
`270 ~~ Zoom lens (magnification change means)
`
`

`

`300 -- Network
`
`DBR -- Annotation image
`
`

`

`JP 2007-47436 A 2007. 2.22
`
`#5 (A)
`
`LOSE Oe8
`$31882007-47436
`(P2007-~47430A)
`(4a) SREY SRNRIOSEZAI 228 (2007. 2.22)
`
`£9) EERERNOSHIF UP)
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`cag By
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