JP6394958B2 - Communication apparatus and communication method - Google Patents

Description

  The present invention relates to a communication device and a communication method, and more particularly to a communication device and a communication method for photographing a subject and transmitting the obtained image.

  2. Description of the Related Art Conventionally, a conference device (communication device) that captures a subject with a camera and transmits an obtained image is known (for example, see Patent Document 1).

  In the conference apparatus disclosed in Patent Literature 1, there is a possibility that the image of the transmitted subject may be uncomfortable.

  The present invention is a communication device that photographs a subject with a camera and transmits the obtained image, a holding device that holds the camera so that at least a position in a vertical direction and a tilt in a tilt direction can be changed, and Based on at least a driving device for changing a position in the vertical direction, a sensor for detecting a tilt in the tilt direction of the camera, a detection result by the sensor, and a distance between the camera and a specific portion of the subject. And a control device that controls the drive device.

  According to this, it is possible to prevent the transmitted image of the subject from being uncomfortable.

FIG. 1 is a plan view (top view) of a video conference device according to an embodiment in a non-use state. It is a block diagram which shows the structure of control of a video conference apparatus. FIG. 6 is a diagram (part 1) for explaining the operation of the image input unit; FIG. 10 is a diagram (part 2) for explaining the operation of the image input unit; 5A is a diagram illustrating a reference state of the camera, FIG. 5B is a diagram for explaining a pan operation of the camera, and FIG. 5C is a diagram illustrating a tilt operation of the camera. It is a figure for doing. FIGS. 6A and 6B are views (No. 1 and No. 2) for explaining the extension / contraction operation of the extension / contraction arm. It is a figure for demonstrating the video conference system containing a some video conference apparatus. It is a figure for demonstrating the video conference using a video conference apparatus. FIG. 9A and FIG. 9B are diagrams for explaining a problem that occurs when a subject is shot with a camera. It is a flowchart for demonstrating control of the Z position of a camera. It is a figure which shows the state which set the Z position of the camera. FIG. 12A is a diagram illustrating a state where the distance between the camera and the subject becomes long after the camera Z position is initially set, and FIG. 12B is a diagram in which the camera Z position is reset. It is a figure which shows a state. FIG. 13A is a diagram illustrating a state in which the distance between the camera and the subject is shortened after setting the camera Z position, and FIG. 13B is a state in which the camera Z position is reset. FIG. FIG. 14A is a diagram illustrating a state where the camera tilt angle is reduced after the camera Z position is set, and FIG. 14B is a diagram illustrating a state where the camera Z position is reset. It is. FIG. 15A is a diagram illustrating a state when the camera tilt angle is increased after the camera Z position is set, and FIG. 15B is a diagram illustrating a state where the camera Z position is reset. It is. It is a flowchart for demonstrating control of the Z position of the camera in a modification. FIGS. 17A and 17B are diagrams for explaining an example (No. 1 and No. 2) in which the image input unit has a plurality of arms.

  Hereinafter, an embodiment will be described with reference to FIGS. FIG. 1 shows a top view (plan view) in a non-use state of a video conference device as a communication device according to an embodiment. The video conference apparatus 10 has a thin, substantially rectangular parallelepiped (substantially flat) outer shape as a whole when not in use. In FIG. 1, the video conference device 10 is placed in parallel with a horizontal plane on an upper surface (mounting surface) such as a desk or table. Hereinafter, the longitudinal direction of the video conference apparatus will be described as the X-axis direction, the direction orthogonal to the X-axis direction in the horizontal plane as the Y-axis direction, and the direction orthogonal to the X-axis and Y-axis directions (vertical direction) as the Z-axis direction.

  As an example, the video conference apparatus 10 includes a housing 25, an image input unit 19 including a camera 16, a speaker 18, a microphone 20, a control device 24, and the like, as shown in FIGS.

  As an example, the housing 25 is formed of a thin box-shaped hollow member (substantially rectangular parallelepiped member). As shown in FIG. 1, the casing 25 has, for example, a substantially rectangular A4 size outer shape in a plan view, and its thickness is substantially constant (for example, 15 mm to 45 mm).

  Further, as an example, in the vicinity of the −Y side end of the upper wall of the housing 25, it extends over almost the entire region in the X axis direction, and the + Z side and −X side of the rectangular plan view having the X axis direction as the longitudinal direction. A concave portion 31 that opens to the side is formed.

  Further, as an example, the upper wall of the housing 25 has an operation panel portion 25 a provided with a plurality of operation members on the + Y side of the recess 31. The operation panel unit 25a and the plurality of operation members will be described later.

  As an example, the X-axis direction intermediate portion of the side wall (front wall) on the + Y side of the housing 25 is connected to a recording medium M such as a USB flash memory or an external device mounted on the main board 12 described later. Two USB terminals 49 for input / output and a LAN terminal 51 for communication are inserted (see FIG. 3).

  Further, as an example, an image output terminal mounted on the main board 12 to be described later, a communication LAN terminal, and the like are fitted in the side wall (rear wall) on the −Y side of the housing 25. Further, a power jack 60 is fitted in the side wall on the −X side of the housing 25 (see FIG. 3).

  Returning to FIG. 1, the operation panel unit 25 a has the power button 35, the line button 37, and the determination button 39 as the plurality of operation members described above in this order from the −Y side to the + Y side in the center in the X-axis direction. , Arranged in a row.

  The power button 35 is an operation member used for switching power ON / OFF for the video conference apparatus 10.

  In addition, a small confirmation lamp 42 that is turned on / off in response to power ON / OFF is attached to a location adjacent to the power button 35 in the operation panel unit 25a (near the −X side of the power button 35). .

  The line button 37 is an operation member used for disconnecting the Internet line with the other party during the two-way communication via the Internet.

  The determination button 39 is an operation member for determining an item selected by operating the cursor 40 in a menu screen displayed on the screen S by a projector P (see FIG. 8) as an image display device, for example. is there. Details of the decision button 39 will be described later. The cursor 40 is arranged around the decision button 39. As the image display device, for example, a monitor device, a television, a personal computer, or the like may be used instead of the projector P.

  A menu button 45 as an operation member is disposed on the + X side of the cursor 40 in the operation panel unit 25a. The menu button 45 is an operation member used for calling a menu screen on the screen S, for example.

  In addition, a pair of volume buttons 62a and 62b are arranged on the −X side of the cursor 40 in the operation panel unit 25a.

  The pair of volume buttons 62 a and 62 b are operation members for adjusting the volume of the speaker 18. The volume can be lowered by pressing the + X side volume button 62b of the pair of volume buttons 62a and 62b, and the volume can be raised by pressing the -X side volume button 62a. .

  A microphone mute button 64 is arranged on the + X side of the cursor 40 in the operation panel unit 25a.

  The microphone mute button 64 is an operation member for switching ON / OFF of the microphone 20. Note that when the microphone 20 is ON, it means a state in which sound is input through the microphone 20, and when the microphone 20 is OFF, it means a state where no sound is input through the microphone 20.

  In addition, a small confirmation lamp 65 that is turned on / off according to the ON / OFF state of the microphone 20 is provided in the vicinity of the + X side of the microphone mute button 64 in the operation panel unit 25a.

  The control device 24 is disposed on the −Z side of the operation panel unit 25a in the housing 25, encodes or decodes audio data and image data, and performs audio and audio via a network as a communication network, for example, the Internet. Control bi-directional communication of images. Note that the image data is data of moving images or intermittent images (still images with a constant time interval).

  As an example, the control device 24 includes a main board 12 as a control board, a sub board 13 as a voice processing and operation board, and the like, as shown in FIG.

  The main board 12 includes a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 104, an HDD (Hard Disk Drive) 106, a data input / output I / F 108, a network LAN I / F 110, Each component of the image input I / F 112, the image output I / F 114, and the controller 115 (microcomputer) is mounted in a state of being connected so as to be capable of bidirectional communication via a bus line 116 such as an address bus or a data bus. ing.

  The CPU 101 controls the overall operation of the video conference apparatus 10 based on a predetermined program (video conference apparatus program). A series of operations related to bidirectional communication of audio and images via the Internet in accordance with instructions from the CPU 101 according to the video conference device program will be described later.

  The ROM 102 stores a program used for driving the CPU 101 such as an IPL (Initial Program Loader).

  The RAM 104 is used as a work area for the CPU 101.

  The HDD 106 stores various data such as the video conference device program, image data, and audio data. In addition, not only HDD but SSD (Solid State Drive) etc. may be used, for example. The program for the video conference apparatus may be a file in an installable format or an executable format, and may be recorded and distributed on a computer-readable recording medium such as a recording medium. The video conference device program may be stored in the ROM 102 instead of the HDD 106. The HDD 106 controls reading or writing of various data with respect to the HDD 106 according to the control of the CPU 101.

  The data input / output I / F 108 includes the USB terminal 49 described above, and controls reading or writing (storage) of data with respect to the recording medium M such as a USB flash memory. The recording medium M is detachable from the USB terminal 49. Note that the recording medium M is not limited to a flash memory as long as it is a non-volatile memory that reads or writes data according to the control of the CPU 101, and an EEPROM (Electrically Erasable and Programmable ROM) or the like may be used.

  The network I / F 109 includes the LAN terminal 51 (for example, Ethernet (registered trademark) terminal) described above, is connected to a network such as the Internet via a LAN cable, and is connected to other video conference apparatuses via the Internet. Input / output data (image data and audio data). Examples of the standard of the Ethernet (registered trademark) terminal include 10Base-T, 100BaseTX, and 1000BaseT. In place of or in addition to the network I / F 109, a wireless LAN interface may be provided.

  The image input I / F 112 takes in an image signal output from the camera 16 as predetermined image data.

  The image output I / F 114 includes the image output terminal described above, and is received via a menu screen such as an operation icon for adjusting the destination, image quality adjustment, output signal selection, etc. of the other party's conference apparatus that conducts the video conference, via the communication network. The encoded image data and the image data input by the camera 16 among the recorded data can be received by a display device such as a monitor device, a television set, or a projector P (see FIG. 8) connected to the image output terminal. Are converted into analog or digital image signals and output. The CPU 101 decodes the encoded image data using a predetermined codec. Examples of the predetermined image signal include an analog RGB signal (VGA), a component video signal, an HDMI (registered trademark) (High-Definition Multimedia Interface) signal, and a DVI (Digital Video Interactive) signal.

  The controller 115 will be described later.

  As an example, the sub board 13 includes a plurality of operation terminals, a voice input / output I / F 120, and a voice control unit 123, which are individually associated with a plurality of operation members. The plurality of operation terminals, the voice input / output I / F 120, and the voice control unit 123 are connected to each other through the bus line 116 so as to be capable of bidirectional communication with each other and to each of the components mounted on the main board 12. It is connected so that it can communicate.

  The voice input / output I / F 120 takes the voice input from the microphone 20 as voice data, sends the voice data to the network I / F 110 via the voice control unit 123, and receives the voice data received by the network I / F 110. Audio data at other locations via the control unit 123 is converted into audio signals that can be reproduced by the speaker 18.

  The voice control unit 123 generates a sound wave loop with the other video conference device when the sound output from the speaker 18 is inputted with the microphone 20 during bidirectional communication with the other video conference device. In addition to having an echo cancellation processing function that suppresses echoes and howling, it also has a noise cancellation processing function that reduces noise input by the microphone 20 such as an operating sound of an indoor air conditioner.

  In addition, the sound control unit 123 adjusts the volume of the sound output from the speaker 18 as the pair of volume buttons 62a and 62b are operated, and a microphone mute button 64 described later is depressed (turned on / off). ), The sound input / non-input by the microphone 20 is switched.

  3 and 4, the image input unit 19 includes a camera housing 63 in which the camera 16 is accommodated, and a camera housing 63 in which the camera 16 is accommodated (hereinafter referred to as a camera unit). A telescopic arm 34 and an arm telescopic device 36 are held at one end via a biaxial torque hinge. The other end of the telescopic arm 34 is connected to the housing 25 via a uniaxial torque hinge whose axial direction is the width direction (Y-axis direction) of the telescopic arm 34.

  The image input unit 19 configured as described above has an accommodation position (see FIG. 1) accommodated in a recess 31 formed in the housing 25, and a projection position (see FIGS. 3 and 4) protruding from the recess 31. (See FIG. 5), it can be rotated around the Y axis with respect to the housing 25. The uniaxial torque hinge is provided with an elastic member (for example, a torsion coil spring) that urges the image input unit 19 from the housing position toward the protruding position.

  Here, a locking device including a lock release button 32 a for locking the image input unit 19 to the housing 25 is provided at the center in the X-axis direction at the −Y side end of the operation panel portion 25 a. ing.

  That is, when the image input unit 19 is located at the accommodation position (see FIG. 1), the telescopic arm 34 is mechanically locked to the housing 25 by the locking device with the retracted arm 34 being most contracted. At this time, when the lock release button 32a is depressed, the lock of the image input unit 19 with respect to the housing 25 is released, and the image input unit 19 pops up by the action of the elastic member (see FIG. 3). Therefore, the image input unit 19 can be grasped and rotated around the Y axis by a desired angle. When the hand is released from the rotated image input unit 19, the image input unit 19 is held at that position by the action of the uniaxial torque hinge.

  Further, in the image input unit 19, the camera unit is independent of the telescopic arm 34 around the axis parallel to the longitudinal direction of the telescopic arm 34 and the axis orthogonal to the axis by the action of the biaxial torque hinge. It can be turned. When the hand is released from the rotated camera unit, the camera unit is held at that position by the action of the biaxial torque hinge.

  That is, when the image input unit 19 is rotated 90 ° around the Y axis from the housing position with respect to the housing 25 and the telescopic arm 34 is in an upright state, the camera 16 can perform pan rotation with respect to the telescopic arm 34 ( 5B) and tilt rotation is possible (see FIG. 5C). Thus, the camera 16 can perform a pan operation and a tilt operation, and can adjust the orientation of the camera 16 in the pan direction and the tilt direction. FIG. 5A shows a reference state in which the pan angle with respect to the telescopic arm 34 of the camera 16 is 0 ° and the tilt angle is 0 °. The pan angle (angle around the Z axis) and tilt angle (angle around the horizontal axis) of the camera 16 can be adjusted manually.

  As can be seen from the above description, the holding device that holds the camera 16 so that the Z position and the tilt angle θ can be changed includes the housing 25, the uniaxial torque hinge, the telescopic arm 34, the biaxial torque hinge, and the camera housing 63. It is configured.

  Here, the rotation angle of the telescopic arm 34 around the Y axis with respect to the casing 25 (0 ° when the image input unit 19 is located at the accommodation position) has become 90 °, that is, the telescopic arm 34 is in an upright state. The detection part which detects that it became is provided, and a detection signal is output to CPU101 from a detection part at the time of detection. Examples of the detection unit include a switch device and a sensor device that detect that the telescopic arm 34 is in an upright state.

  As an example, as shown in FIGS. 6A and 6B, the telescopic arm 34 includes a hollow support arm member 34a connected to the housing 25 via the uniaxial torque hinge, and the biaxial shaft. A hollow movable arm member 34b that holds the camera unit via a torque hinge and is slidably supported by the support arm member 34a. That is, at least a part of the movable arm member 34b is inserted into the support arm member 34a, and the insertion amount with respect to the support arm member 34a shown in FIG. It is slidable (movable) between the position where the insertion amount with respect to the support arm member 34a shown in FIG. 6B is the minimum (the position where the protrusion amount is the maximum).

  The arm expansion / contraction device 36 includes a belt 36a having one end fixed to a movable arm member 34b, a pulley 36b accommodated in a support arm member 34a, and a portion including the other end of the belt 36a wound around the pulley 36b. The motor 36c is attached, and the compression coil spring 36d is accommodated in the support arm member 34a and biases the movable arm member 34b in the protruding direction. In addition, although any motor can be used as the motor 36c, it is preferable to use a stepping motor or a servo motor capable of highly accurate positioning.

  Therefore, by controlling the motor 36c, the protrusion amount (insertion amount) of the movable arm member 34b with respect to the support arm member 34a can be adjusted.

  Specifically, by rotating the rotating shaft of the motor 36c and the pulley 36b in the direction of arrow P in FIG. 6A from the state shown in FIG. 6A, the winding amount of the belt 36a around the pulley 36b is reduced. The movable arm member 34b can be slid in the protruding direction by the elastic force (restoring force) of the compression coil spring 36d. On the other hand, from the state shown in FIG. 6B, the rotating shaft of the motor 36c and the pulley 36b are rotated against the elastic force of the compression coil spring 36d in the direction of the arrow Q in FIG. The movable arm member 34b can be slid in the insertion direction by increasing the amount of winding.

  As can be understood from the above description, in the arm extension / contraction device 36, the extension arm 34 can be extended and contracted in the Z-axis direction by driving the motor 36c when the extension arm 34 is in the upright state. The motor 36c is controlled by the controller 115. As a result, the controller 115 can adjust the Z position (position in the Z-axis direction) of the camera 16 by controlling the motor 36c.

  Here, the camera 16 is provided with an acceleration sensor 15 (see FIG. 2) for detecting a tilt angle θ (rotation angle in the tilt direction). The detection result (tilt angle θ) by the acceleration sensor 15 is sent to the controller 115. Instead of the acceleration sensor 15, another sensor such as a gyro sensor that can detect the tilt angle θ may be used.

  The camera 16 captures an image of an object (for example, a user, a document, etc.) as a subject through the photographing lens 16a, converts the captured image into an image signal (electric signal), and outputs the image signal to the image input I / F 112. (See FIG. 2). As an image sensor of the camera 16, for example, a CCD, a CMOS, or the like is used.

  The camera 16 has an autofocus device that automatically focuses the photographing lens 16a on the subject. Here, as an autofocus device, an “active method” is employed in which infrared rays or ultrasonic waves are transmitted toward a subject and a reflected wave from the subject is detected to measure the distance to the subject. The focus setting value (autofocus setting value) in the autofocus device is sent to the controller 115. Since this focus setting value corresponds to the distance to the subject on a one-to-one basis, the distance to the subject can be obtained from the focus setting value. This distance calculation method is disclosed in Japanese Patent Laid-Open No. 2000-47293.

  The camera 16 also has an automatic exposure function that controls the aperture so that exposure according to the brightness of the subject is obtained.

  As an example of the photographing lens 16a, a wide-angle lens having a horizontal viewing angle of, for example, 120 ° and a vertical viewing angle of, for example, 100 ° is used. The viewing angle of the photographic lens 16a can be changed as appropriate.

  The speaker 18 is, for example, a full-range round type, and is disposed at the corners on the −X side and the + Y side in the housing 25 so that the sound output direction is approximately the + Z direction (FIG. 1). reference). The speaker 18 converts voice data of other bases sent via the network I / F 110, the voice control unit 123, and the voice input / output I / F 120 into voice and outputs the voice.

  On the + Z side of the speaker 18 in the operation panel unit 25a, a sound emission port 17 including a plurality of through holes for emitting sound output from the speaker 18 is provided.

  As an example, the microphone 20 is unidirectional, and is provided at the −X side end of the inner side surface of the + Y side wall of the housing 25 so that the voice input direction is substantially in the −Y direction. (See FIG. 1). Thus, since the sound input direction of the microphone 20 is substantially orthogonal to the sound output direction of the speaker 18, the sound output from the speaker 18 is hardly input by the microphone, and echo and howling can be effectively suppressed. The microphone 20 inputs voice and outputs the voice to the voice input / output I / F 120. The microphone 20 may be omnidirectional.

  A sound intake port 77 including a plurality of (for example, three) through holes is formed at a position corresponding to the microphone 20 on the side wall on the + Y side of the housing 25 to receive sound input by the microphone 20. (See FIGS. 3 and 4).

  Hereinafter, a conference system 100 including a plurality of video conference apparatuses 10 will be described. As shown in FIG. 7, the conference system 100 includes a plurality of (for example, two) routers R1 connected to the Internet and a plurality of (for example, two) routers connected to each of the plurality of routers R1. LAN (Local Area Network) as a communication network having R2, a plurality (for example, three) of video conference apparatuses 10 and relay apparatuses 4 connected to each of a plurality of routers R2, and a communication management apparatus connected to the Internet 5 and a projector P connected to each video conference device 10.

  The relay device 4 is a computer that realizes various functions in accordance with a predetermined control program. The relay device 4 constantly monitors the quality (transmission speed) of the communication network and sets image data with a resolution suitable for the transmission speed. Yes. That is, the relay device 4 causes a shift (delay) between the image data and the audio data between the video conference devices 10 during two-way communication due to the influence of the state of the communication network, the processing status of the video conference device 10, and the like. If there is a discrepancy between the audio data and the image data, the television that has the discrepancy among the high-resolution image data, the medium-resolution image data, and the low-resolution image data. The most suitable resolution is selected for the conference apparatus 10 and transmitted to the video conference apparatus 10 on the other side. As a result, even when the quality of the communication network deteriorates, moving image communication is possible without interruption.

  In addition, in order to eliminate the difference between the image data and the audio data, the relay device 4 can change the frame rate, change the resolution and the frame rate with emphasis on the balance of the two in addition to the resolution change described above. It has become. As described above, the relay device 4 constantly monitors the quality (transmission speed) of the communication network, and performs management related to transfer of moving images and sounds, such as detection of deviation and designation of resolution.

  The communication management device 5 is a computer that manages all the video conference devices 10 according to a predetermined control program, and the current operation status of all the video conference devices 10 (bidirectional communication, communication standby, de-energized state, etc.) ), Device authentication of the video conference device 10, assignment of a destination list to the video conference device 10 that has been device-authenticated, selection of the relay device 4, billing for two-way communication between the video conference devices 10, etc. And the relay device 4 are managed in an integrated manner.

  An example of a video conference using the conference system 100 configured as described above will be described below. This video conference is performed between a plurality of sites (for example, between 12 sites) by using the video conference apparatus 10 disposed at each site (see FIG. 8). The number of users (conference participants) at each base is, for example, three.

  As shown in FIG. 8, the three users at each base are seated with the table T side facing the + X side, + Y side, and −X side of the table T arranged in one room, for example. At the end of the upper surface of the table T on the −Y side, the video conference device 10 is initially placed in a state where the image input unit 19 is located at the accommodation position. A short focus type projector P is installed on the −Y side of the table T, and a screen S is stretched obliquely above the −Y side and the + Z side of the projector P. Connection of wiring related to electricity and communication to the video conference device 10 (for example, connection between a terminal wired to the router R2 via an optical cable and the network I / F 110, connection between the projector P and the image output terminal, power supply The connection between the jack 60 and the external power source is performed in advance.

  First, the user pushes the lock release button 32a to pop up the image input unit 19 and manually rotate the image input unit 19 around the Y axis from the accommodation position to bring the telescopic arm 34 upright. The camera unit is rotated about the Z axis (in the pan direction) by, for example, 90 ° with respect to the telescopic arm 34. As a result, three seated users enter the field of view of the photographing lens 16a (see FIG. 8). At this time, the telescopic arm 34 is in the most contracted state, the pan angle of the camera 16 is 90 °, and the tilt angle is 0 ° (the optical axis of the camera 16 is substantially horizontal). At this time, autofocus is performed by the autofocus device. Here, autofocus is performed on the face of one of the three users (for example, the central user).

  Next, the user presses the power button 35 to activate the video conference device 10. When the video conference device 10 is activated, the control device 24 controls the Z position (position in the Z-axis direction) of the camera 16. This control will be described in detail later.

  When the video conference device 10 is activated, a menu screen is displayed on the screen S by the projector P. In this menu screen, various items such as various adjustments, start of a conference (start of bidirectional communication), and the like are displayed with icons and text information. Therefore, the user operates the cursor 40 to select an item related to the start of the conference on the menu screen and presses the determination button 39 to determine the start of the conference.

  When the start of the conference is determined, the one video conference device 10 transmits a signal to that effect to the communication management device 5 via the communication network (LAN, Internet). At this time, the communication management device 5 performs device authentication for the one video conference device 10, and after the authentication, the communication management device 5 gives the one video conference device 10 a plurality of other video conference devices other than the one video conference device 10. 10 (the video conference device 10 registered in the communication management device 5) is transmitted a destination list indicating the current operation status. At this time, the one video conference apparatus 10 displays the destination list on the screen S via the projector P. This destination list includes icon display and character information that can be operated intuitively, and is updated as appropriate.

  Here, the user operates the cursor 40 to select the video conference apparatus 10 at another location where the video conference (two-way communication) is desired from the destination list, and presses the enter button 39 to decide.

  In this way, when a video conference device 10 at another location where bi-directional communication is desired is selected and determined from among a plurality of other video conference devices 10 that are not in the de-energized state in the destination list, the communication management device 5 selects the optimum relay device 4 from the plurality of relay devices 4. Normally, the relay device 4 that is physically close to the one video conference device 10 is selected. However, if there is any malfunction in the relay device 4, another relay device 4 is selected. For example, as shown in FIG. 10, when the IP address of one video conference device 10 is (1.2.1.5), the relay device 4 with the IP address (1.2.1.2) is selected. However, when the relay device 4 is down, the relay device 4 whose IP address is (1.2.2.2) is selected. The IP address is a unique IP address assigned to each video conference device 10 for convenience of explanation (in FIG. 7, the IP address is represented by four numbers in parentheses. For example, the communication management device. 5 is (1.1.1.2)).

  When the relay device 4 is selected by the communication management device 5, a request for bidirectional communication is immediately transmitted to the other video conference device 10 based on the IP address via the relay device 4. In the other video conference apparatus 10, when the request for bidirectional communication is received, items relating to acceptance and rejection of the request are displayed on the menu screen displayed on the screen S via the projector P.

  Therefore, the user at another site operates the cursor 40 and the determination button 39 of the other video conference apparatus 10 to select and determine one of the items regarding the acceptance and rejection. Then, when the item regarding acceptance is selected / determined, bidirectional communication between the one and the other video conference apparatuses 10 is started.

  At this time, as described above, the relay device 4 constantly monitors the quality (transmission speed) of the communication network. If the quality of the communication network deteriorates, the relay device 4 switches to image data having a resolution one step lower than the current resolution. Relay, lower frame rate relay, or both lower relay. The communication management device 5 performs processing for charging for the use of the conference system 100 according to the present embodiment, such as the start of bidirectional communication between the video conference devices 10, the identification of the video conference devices 10, and the measurement of the communication time. Is executed.

  When two-way communication is started between the video conference apparatuses 10 at a plurality of bases, the images of the three users at the bases captured by the camera 16 of the video conference apparatus 10 at each base are transferred to other bases via the Internet. Are displayed on the screen S by the projector P connected to the video conference apparatus 10.

  In addition, the voice of the user at the base input by the microphone 20 of the video conference apparatus 10 at each base is transmitted to the video conference apparatus 10 at another base via the Internet, and output from the speaker 18 of the video conference apparatus 10. Is done.

  In this way, a video conference is performed by bidirectional communication (transmission / reception) of image data and audio data between a plurality of sites.

  Here, the length of the telescopic arm 34 in the upright state is, for example, about 30 cm when it is most contracted, and the height of the camera 16 at this time is substantially the same as the face of the seated user (FIG. 9A )reference).

  However, if the orientation of the camera 16 is horizontal (the optical axis of the photographic lens 16a is horizontal), a large amount of light from a lighting device (for example, a fluorescent lamp) installed above (for example, the ceiling) passes through the photographic lens 16a. As a result of the automatic exposure function of the camera 16 being taken in, the image (captured image) captured by the camera 16 becomes dark as a whole, and the user's facial expression may be difficult to understand.

  Therefore, as shown in FIG. 9B, by turning the camera 16 downward, it is possible to make it difficult to capture light from the lighting fixture through the photographing lens 16a, and the photographed image becomes dark. Can be suppressed.

  However, in this case, the user drops the line of sight from above with respect to the photographing lens 16a, that is, the user's line of sight (a straight line passing through the user's face and the center of the lens surface of the photographing lens 16a) and the light of the photographing lens 16a. It becomes non-parallel to the axis, and gives an uncomfortable feeling such as an intimidating impression to the other party (user at another base) of the video conference. The optical axis of the photographic lens 16a passes through the center of the lens surface of the photographic lens 16a.

  Therefore, in the present embodiment, the controller 115 controls the Z position of the camera 16. That is, as will be described in detail below, the controller 115 drives the motor 36c as necessary to extend and retract the extendable arm 34 based on the detection result of the acceleration sensor 15 and the focus setting value of the autofocus device. Thus, the Z position of the camera 16 is controlled.

  Hereinafter, control of the Z position of the camera 16 by the controller 115 will be described with reference to FIG. The flowchart in FIG. 10 is based on a processing algorithm executed by the controller 115. This control is started when a control start signal is output from the CPU 101 to the controller 115. The CPU 101 outputs a control start signal to the controller 115 when it is detected that the video conference device 10 is activated and the telescopic arm 34 is in the upright state. At the start of control, the telescopic arm 34 is most contracted, and the Z position of the camera 16 is the reference Z position (Z = 0). Instead of providing a detection unit that detects that the telescopic arm 34 is in the upright state, a command for starting control of the Z position of the camera 16 when the user places the telescopic arm 34 in the upright state is provided. It may be sent to the controller 115 by a button operation or the like to start control. Alternatively, the Z position of the camera 16 when the upright telescopic arm 34 is somewhat extended from the most contracted state may be used as the reference Z position.

  In the first step S1, it is determined whether or not communication is in progress. This determination is affirmed when the video conference device 10 at the local site and the video conference device 10 at the other site are connected via the Internet line, and negative when the video conference device 10 is not connected. If the determination in step S1 is affirmed, the process proceeds to step S2. On the other hand, if the determination in step S1 is negative, the same determination is made again. That is, the communication connection is waited.

  In step S2, it is determined whether the camera 16 is facing downward. That is, it is determined whether or not the tilt angle θ of the camera 16 is positive. Here, the tilt angle θ, that is, the detection result (detected value) by the acceleration sensor 15 is a positive value when the camera 16 is downward, with the camera 16 being horizontal (tilt angle θ = 0 °) as a reference. The value is negative when the camera 16 is facing upward. Specifically, −90 ° ≦ θ ≦ 90 °. Therefore, the determination in step S2 is affirmed when the camera 16 is directed downward by the user and the detection value of the acceleration sensor 15 is a positive value, and the detection value of the acceleration sensor 15 is determined when the camera 16 is horizontal or upward by the user. Is negated if is zero or negative. If the determination in step S2 is affirmed, the process proceeds to step S3. If the determination in step S2 is negative, the same determination is made again.

  In step S3, the tilt angle θ of the camera 16 is acquired. Specifically, the detection value of the acceleration sensor 15 is acquired.

  In the next step S4, the distance L between the user's face and the camera 16 is acquired. Specifically, the distance L is acquired from the focus setting value of the camera 16. As described above, auto-focusing is performed on the face of one of the three users (for example, the central user) by the auto-focus device, and a focus setting value is obtained. Further, a table indicating the correspondence relationship between the focus setting value and the distance L to the subject is stored in advance in the memory of the controller 115, and the distance L corresponding to the focus setting value can be easily determined by referring to the table. Can be acquired. Note that the distance L may be calculated from the focus setting value at any time using an expression for converting the focus setting value into the distance L.

  In the next step S5, the target Z position of the camera 16 is calculated. Specifically, when the Z position of the camera 16 when the telescopic arm 34 in the upright state is most contracted is a reference Z position (Z = 0), and the horizontal distance between the user's face and the camera 16 is X, The target Z position is Xtanθ. That is, the target Z position is substantially the straight line (the user's line of sight) passing through the user's face and the center of the lens surface of the photographing lens 16a and the optical axis of the photographing lens 16a when viewed from the horizontal direction (for example, the X axis direction). It means the Z position of the camera 16 that is parallel (preferably substantially coincident) (see FIG. 11). In this case, the above-mentioned problem of giving unpleasant feeling is solved. The controller 115 stores the target Z position in the memory. The horizontal distance X is obtained by the controller 115 by a method described later.

  In the next step S6, it is determined whether or not the current Z position of the camera 16 is the target Z position. The controller 115 stores the current Z position in the memory. If the determination in step S6 is affirmative, the process proceeds to step S8. On the other hand, if the determination in step S6 is negative, the process proceeds to step S7.

  In step S7, the camera 16 is moved to the target Z position. Specifically, the motor 36c is driven to extend and retract the telescopic arm 34, and the camera 16 is moved from the current Z position toward the target Z position by the difference in height between the two (both Z positions).

  In the next step S8, it is determined whether or not communication is in progress. This determination is affirmed when the video conference device 10 at the local site and the video conference device 10 at the other site are connected via the Internet line, and negative when the video conference device 10 is not connected. If the determination in step S8 is affirmative, the process returns to step S2. On the other hand, if the determination in step S8 is negative, the flow ends.

  Here, how to obtain the horizontal distance X between the user's face and the camera 16 will be described. First, when step S5 is first executed, the telescopic arm 34 in the upright state is most contracted, and the horizontal distance X1 between the user's face and the camera 16 is equal to the distance L1 between the user's face and the camera 16. (See FIG. 9B).

  Then, when the first steps S5, S6, and S7 are executed, the determination in step S8 is affirmed, and when step S5 is executed again, the horizontal distance X2 between the user's face and the camera 16 is the user's face and camera. 16 is the square root of the value obtained by subtracting the square of X1 tan θ, which is the target Z position calculated in the first step S5, from the square of the distance L2 with respect to 16 (FIGS. 12A, 13A, and 14). (A) and FIG. 15 (A)).

  That is, when step S5 is executed twice or more (when n ≧ 2), the horizontal distance Xn between the user's face and the camera 16 is calculated from the square of the distance Ln between the user's face and the camera 16 and the previous time. This is the square root of the value obtained by subtracting the square of X (n−1) tan θ, which is the target Z position calculated in step S5.

  As can be understood from the above description, the control shown in the flowchart of FIG. 10 allows the Z position of the camera 16 to be at an appropriate height regardless of the distance L between the user's face and the camera 16 and the tilt angle θ of the camera 16. Adjusted. That is, even if the seating position of the user is changed during the video conference, the distance L between the user and the camera 16 is changed due to the video conference device 10 being moved, or the tilt angle θ of the camera 16 is changed. The Z position of 16 can be adjusted to an appropriate height according to the distance L and the tilt angle θ.

  For example, when the distance L is increased from the distance L1 to the distance La (> L1) when the tilt angle θ is θ1 (see FIG. 12A), the target Z position is increased from X1 tan θ1 to Xatan θ1 (FIG. 12 ( B)).

  For example, when the distance L is decreased from the distance L1 to the distance Lb (<L1) when the tilt angle θ is θ1, (see FIG. 13A), the target Z position is lowered from X1 tan θ1 to Xbtan θ1 (FIG. 13B). )reference).

  For example, when the tilt angle θ is decreased from θ1 to θ2 (<θ1) when the distance L is L1 (= X1) (see FIG. 14A), the target Z position is lowered from X1 tan θ1 to X1 tan θ2 (FIG. 14). (See (B)).

  For example, when the tilt angle θ is increased from θ1 to θ3 (> θ1) when the distance L is L1 (= X1) (see FIG. 15A), the target Z position is increased from X1 tan θ1 to X1 tan θ3 (FIG. 15). (See (B)).

  The video conference apparatus 10 according to the present embodiment described above is a communication apparatus that captures a subject with the camera 16 and transmits the obtained image. The camera 16 is connected to the Z position (vertical position) and the tilt angle θ ( A holding device including a housing 25 and an extendable arm 34, an arm extendable device 36 for changing the Z position of the camera 16, and a tilt angle θ of the camera 16 are detected. An acceleration sensor 15, and a control device 24 that controls the arm telescopic device 36 based on a detection result (tilt angle θ) by the acceleration sensor 15 and a distance L between the camera 16 and the user's face are provided.

  In addition, the communication method using the video conference apparatus 10 according to the present embodiment captures an object by photographing the subject with the camera 16 that is supported so that the Z position (position in the vertical direction) and the tilt angle θ (tilt in the tilt direction) can be changed. A communication method for transmitting a captured image, the step of acquiring the tilt angle θ of the camera 16, the step of acquiring the distance L between the camera 16 and the face of the subject, and the camera based on the tilt angle θ and the distance L. 16 target Z positions (vertical target positions), and a step of moving the camera 16 to the target Z position when the Z position of the camera 16 does not match the target Z position.

  In the video conference device 10 and the communication method according to the present embodiment, the Z position of the camera 16 is controlled to an appropriate height corresponding to the tilt angle θ and the distance L (a position that does not cause discomfort to the image transmission destination). it can.

  As a result, it is possible to prevent the transmitted image of the subject from being uncomfortable.

  The holding device includes an extendable arm 34 supported at one end by the housing 25 and provided at the other end so that the camera 16 can change the tilt in the tilt direction. The arm extendable device 36 drives the extendable arm 34 to extend and retract. Is possible.

  In this case, the Z position of the camera 16 can be controlled with a simple configuration.

  In addition, the control device 24 is transmitted to control the arm expansion / contraction device 36 in consideration of the positional relationship between the specific portion of the subject and the straight line passing through the center of the lens surface of the camera 16 and the optical axis of the lens of the camera 16. It is possible to reliably prevent the image of the subject to be uncomfortable.

  Further, since the control device 24 controls the arm expansion / contraction device 36 so that the straight line and the optical axis are substantially parallel (preferably substantially coincident) when viewed from the horizontal direction, the transmitted image of the subject is displayed. It is possible to more reliably prevent discomfort.

  In addition, the camera 16 has an autofocus device, and the control device 24 acquires the distance L based on the focus setting value in the autofocus device, so that a dedicated sensor or the like for detecting the distance L is not separately provided. , Distance L can be acquired.

  Note that instead of the control shown in the flowchart of FIG. 10 in the above embodiment, the control of the modification shown in the flowchart of FIG. 16 may be performed.

  Hereinafter, control of the Z position of the camera 16 by the controller 115 in the modification will be described with reference to FIG. The flowchart of FIG. 16 is based on a processing algorithm executed by the controller 115. This control is started when a control start signal is output from the CPU 101 to the controller 115. The CPU 101 outputs a control start signal to the controller 115 when it is detected that the video conference device 10 is activated and the telescopic arm 34 is in the upright state. At the start of control, the telescopic arm 34 is in the most contracted state, and the Z position of the camera 16 is the reference Z position (Z = 0). Instead of providing a detection unit that detects that the telescopic arm 34 is in the upright state, a command for starting control of the Z position of the camera 16 when the user places the telescopic arm 34 in the upright state is provided. It may be sent to the controller 115 by a button operation or the like to start control. Alternatively, the Z position of the camera 16 when the upright telescopic arm 34 is somewhat extended from the most contracted state may be used as the reference Z position.

  In the first step S11, it is determined whether or not communication is in progress. This determination is affirmed when the video conference device 10 at the local site and the video conference device 10 at the other site are connected via the Internet line, and negative when the video conference device 10 is not connected. If the determination in step S11 is affirmed, the process proceeds to step S12. On the other hand, if the determination in step S11 is negative, the same determination is made again. That is, the communication connection is waited.

  In step S12, it is determined whether the camera 16 is facing downward. That is, it is determined whether or not the tilt angle θ of the camera 16 is positive. Here, the tilt angle θ, that is, the detection result (detected value) by the acceleration sensor 15 is a positive value when the camera 16 is downward, with the camera 16 being horizontal (tilt angle θ = 0 °) as a reference. The value is negative when the camera 16 is facing upward. Specifically, −90 ° ≦ θ ≦ 90 °. Therefore, the determination in step S12 is affirmative when the camera 16 is directed downward by the user and the detection value at the acceleration sensor 15 is a positive value, and the camera 16 is directed horizontally or upward by the user and the acceleration sensor 15 It is negated when the detected value is 0 or a negative value. If the determination in step S12 is affirmed, the process proceeds to step S13. If the determination in step S12 is negative, the same determination is made again.

  In step S13, the tilt angle θ of the camera 16 is acquired. Specifically, the detection value of the acceleration sensor 15 is acquired.

  In the next step S14, it is determined whether or not the current Z position of the camera 16 is a reference Z position. The controller 115 stores the current Z position in the memory. If the determination in step S14 is affirmative, the process proceeds to step S16. On the other hand, if the determination in step S14 is negative, the process proceeds to step S15.

  In step S15, the camera 16 is moved to the reference Z position. Specifically, the camera 16 is lowered by the current Z position.

  In step S16, the distance L between the user's face and the camera 16 is acquired. Specifically, the distance L is acquired from the focus setting value of the camera 16. As described above, auto-focusing is performed on the face of one of the three users (for example, the central user) by the auto-focus device, and a focus setting value is obtained. Further, a table indicating the correspondence relationship between the focus setting value and the distance L to the subject is stored in advance in the memory of the controller 115, and the distance L corresponding to the focus setting value can be easily determined by referring to the table. Can be acquired. Note that the distance L may be calculated from the focus setting value at any time using an expression for converting the focus setting value into the distance L.

  In the next step S17, the target Z position of the camera 16 is calculated. Specifically, using the horizontal distance X (= L) between the user's face and the camera 16, the target Z position is Xtan θ. That is, the target Z position is such that the straight line (the user's line of sight) passing through the user's face and the center of the lens surface of the photographing lens 16a and the optical axis of the photographing lens 16a are substantially parallel (preferably substantially coincident). Means the Z position (see FIG. 11). In this case, the above-described problem of giving discomfort to users at other bases is solved. The controller 115 stores the target Z position in the memory.

  In the next step S18, it is determined whether or not the current Z position of the camera 16 is the target Z position. The controller 115 stores the current Z position in the memory. If the determination in step S18 is affirmed, the process proceeds to step S20. On the other hand, if the determination in step S18 is negative, the process proceeds to step S19.

  In step S19, the camera 16 is moved to the target Z position. Specifically, the motor 36c is driven to extend and retract the telescopic arm 34, and the camera 16 is moved from the current Z position toward the target Z position by the difference in height between the two (both Z positions).

  In the next step S20, it is determined whether or not communication is in progress. This determination is affirmed when the video conference device 10 at the local site and the video conference device 10 at the other site are connected via the Internet line, and negative when the video conference device 10 is not connected. If the determination in step S20 is affirmed, the process returns to step S12. On the other hand, if the determination in step S20 is negative, the flow ends.

  As can be seen from the above description, in the modified example, the distance L between the user's face and the camera 16 is acquired with the camera 16 positioned at the reference Z position, so the acquired distance L is used as the horizontal distance X as it is. Can be used.

  Further, in the above-described embodiment and modification, the Z position of the camera 16 is controlled (the camera 16 is simply moved up and down) only by extending and retracting the upright extension arm 34, but the present invention is not limited to this. For example, the Z position of the camera 16 may be controlled by operating an arm device including a plurality of arms connected in series.

  Specifically, as shown in FIG. 17A, an arm 38 (second arm) is connected to the other end of a telescopic arm 34 (first arm) whose one end is pivotally connected to the housing around the Y axis. ) Is connected to the other end of the arm 38 so that the camera can be tilted and rotated, and the telescopic arm 34 can be driven around the Y axis by the first drive unit with respect to the housing. The arm 38 may be driven around the Y axis with respect to the telescopic arm 34 by the second drive unit, and the first and second drive units may be controlled by the control device to adjust the Z position of the camera. Examples of the first and second driving units include those including a motor (preferably a stepping motor or a servo motor). Also in this case, based on the tilt angle θ and the distance L, the first line of sight of the user and the optical axis of the photographing lens are preferably substantially parallel (more preferably substantially coincident) by the control device. It is preferable to control the second driving device. The first and second drive devices may share a part (for example, a drive source).

  Also, as shown in FIG. 17B, one end of the second arm can be rotated about the Y axis at the other end of the first arm provided at one end of the housing to be rotatable about the Y axis. The camera is tiltably rotated at the other end of the second arm, the first arm can be driven around the Y axis by the first driving device relative to the housing, and the second arm is moved relative to the first arm. The second driving device may be driven around the Y axis, and the first and second driving devices may be controlled to adjust the Z position of the camera. Examples of the first and second driving devices include actuators including motors (preferably stepping motors and servo motors). Also in this case, based on the tilt angle θ and the distance L, the first line of sight of the user and the optical axis of the photographing lens are preferably substantially parallel (more preferably substantially coincident) by the control device. It is preferable to control the second driving device. The first and second drive devices may share a part (for example, a drive source).

  Note that in the case shown in FIGS. 17A and 17B, in order to make the tilt angle θ unchanged before and after the change of the Z position of the camera, the two arms connected to be able to rotate are set to the same angle. Only need to rotate in the opposite direction. At this time, the X position may be changed in addition to the Z position of the camera.

  In the embodiment and the modified example, a device including a housing and an arm is employed as a holding device that holds the camera 16. However, the present invention is not limited to this, and in short, the camera 16 is at least a Z position and a tilt angle. Any device may be used as long as θ can be changed. The driving device for changing at least the Z position of the camera 16 is a device for driving a bending structure such as a link mechanism (for example, pantograph) formed by connecting a plurality of links by a driving source. Alternatively, an apparatus having an air cylinder or an oil cylinder may be used.

  Further, the arm expansion / contraction device (drive device) is not limited to the one described in the above embodiment, and may be any actuator that can expand / contract the expansion / contraction arm. For example, a magnetic field when a coil is energized and a magnetic field of a permanent magnet are generated. It may be a solenoid actuator to be used, or an actuator that converts a rotational motion including a motor (preferably a stepping motor or servo motor) as a driving source, a rack and pinion mechanism, or a ball screw mechanism into a linear motion.

  In the embodiment and the modification, the distance L is acquired from the focus setting value of the autofocus device of the camera 16, but instead, for example, electromagnetic waves such as light waves (for example, infrared rays), sound waves, and radio waves are transmitted. A distance measuring device that detects the reflected wave and measures the distance may be provided in the camera 16 and the distance L may be measured by the distance measuring device. In this case, the camera 16 may not have an autofocus device.

  Moreover, in the said embodiment and modification, although the expansion-contraction arm 34 can be accommodated in the recessed part 31 of the housing | casing 25, you may attach externally to a housing | casing.

  In the above embodiment and the modification, the extendable arm 34 is supported by the housing 25, but may be supported by a support member separate from the housing 25.

  In the above embodiment and the modification, one end of the telescopic arm 34 is pivotally connected to the housing 25, but one end of the telescopic arm is fixed to the housing so that the telescopic arm is in an upright state. May be.

  Moreover, in the said embodiment and modification, although Z position of the camera 16 is controlled by the controller 115, it may replace with this and may be controlled by CPU101, for example.

  In the embodiment and the modification, the Z position of the camera 16 is controlled only when the camera 16 is facing downward in consideration of the function of the automatic exposure function of the camera 16. For example, the camera 16 emits illumination light. Since use in a state where it is difficult to capture a large amount (for example, a state where the amount of illumination light is small or a direction where the direction of the camera 16 is difficult to capture illumination light) is assumed, even when the direction of the camera 16 is horizontal or upward, The Z position of the camera 16 may be controlled. Also in this case, considering the positional relationship between the user's face and the straight line passing through the center of the lens surface of the camera 16 (user's line of sight) and the optical axis of the camera 16 (preferably so that both are substantially parallel, It is desirable to control the Z position of the camera 16 (more preferably so that the two substantially coincide).

  Further, after step S8 in FIG. 10 and after step S20 in FIG. 16, it is determined whether or not the Z position of the camera 16 is the reference Z position, and the flow ends if the determination result is affirmative. If the result is negative, it is desirable to move the camera 16 to the reference Z position as the initial position. In this case, after the video conference, the user can rotate the image input unit 19 and accommodate it in the recess 31.

  Further, by making the conference device program used for the video conference device 10 equivalent to that of a software base using a personal computer, an unnecessary conference system of the relay device 4 and the communication management device 5 can be constructed (only LAN and WAN). It is possible to construct a conference system using Thus, the video conference apparatus 10 is not limited to being used for the construction of the conference system 100 described above.

  Moreover, in the said embodiment and modification, although the video conference apparatus 10 is used in one room, it is not limited to this. Since the video conference apparatus 10 is small and excellent in portability as described above, it is not necessary to be placed at a specific location, and it can be expected to be freely carried and used in various locations.

  In the above-described embodiment and modification, the so-called portable type (portable) video conference apparatus 10 has been described. However, the present invention can also be applied to a so-called stationary video conference apparatus.

  Moreover, in the said embodiment and modification, although the video conference apparatus 10 was demonstrated, the communication apparatus of this invention is arrange | positioned at the entrance of a reception desk and apartment houses, such as a company, a school, a hospital, a public facility, for example, and is a camera. It may be a communication device that photographs a visitor and transmits the obtained image to a monitor device or the like. Also in this case, by controlling the Z position of the camera in the same manner as in the above-described embodiment and modification, it is possible to capture the appearance of the visitor as an image that does not cause discomfort to the transmission destination and transmit it to a monitor device or the like. .

  As can be seen from the above description, the present invention can be applied to all communication devices that capture a subject with a camera and transmit the obtained image.

  DESCRIPTION OF SYMBOLS 10 ... Video conference apparatus (communication apparatus), 15 ... Acceleration sensor (sensor), 16 ... Camera, 16a ... Shooting lens (camera lens), 24 ... Control apparatus, 25 ... Case (a part of support body and holding device) ), 34 ... telescopic arm (extensible / retractable arm, part of the holding device), 36 ... arm telescopic device (drive device).

JP 2012-235264 A

Claims (9)

A communication device for photographing a subject with a camera and transmitting an obtained image,
A holding device for holding the camera so that at least a vertical position and a tilt in a tilt direction can be changed;
A driving device for changing the position of at least the vertical direction of the camera;
A sensor for detecting the tilt in the tilt direction of the camera;
And a control device that controls the drive device based on a detection result of the sensor and a distance between the camera and a specific portion of the subject. The holding device is
A support;
One end supported by the support, and an extendable arm provided at the other end so that the camera can change the tilt in the tilt direction,
The communication device according to claim 1, wherein the drive device is capable of extending and retracting the arm. The holding device is
A support;
A first arm supported on the support so that one end can be pivoted, and one end pivotally connected to the other end of the first arm, and the camera is provided on the other end so that the tilt in the tilt direction can be changed. An arm device including a second arm formed,
The drive device includes: a first drive unit for rotating the first arm with respect to the support; and a second drive unit for rotating the second arm with respect to the first arm. The communication apparatus according to claim 1, further comprising:   The control device controls the drive device in consideration of a positional relationship between a specific portion of the subject and a straight line passing through a center of a lens surface of the camera and an optical axis of a lens of the camera. Item 4. The communication device according to any one of Items 1 to 3.   The communication device according to claim 4, wherein the control device controls the driving device so that the straight line and the optical axis are substantially parallel when viewed from a horizontal direction.   The communication device according to claim 4, wherein the control device controls the driving device so that the straight line and the optical axis substantially coincide with each other when viewed from a horizontal direction. The camera has an autofocus device,
The communication device according to claim 1, wherein the control device acquires the distance based on an autofocus setting value in the autofocus device. A communication method of photographing a subject with a camera supported so that at least a vertical position and a tilt in a tilt direction can be changed, and transmitting an obtained image,
Obtaining a tilt in the tilt direction of the camera;
Obtaining a distance between the camera and a specific part of the subject;
Calculating a vertical target position of the camera based on the acquired tilt and the distance;
And a step of moving the camera to the target position when the vertical position of the camera does not match the target position.   In the step of setting the target position, the target position is calculated in consideration of a positional relationship between a specific portion of the subject and a straight line passing through the center of the lens surface of the camera and an optical axis of the lens of the camera. The communication method according to claim 8, wherein:

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