JP2004150890A - Three-dimensional distance picture imaging apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To measure a distance from a subject in a relatively long range to an object in a short range and to image a pattern recognition at superior resolution. <P>SOLUTION: A device body 100 is divided into a first casing 100A and a second casing 100B, a light projecting system 110 is provided in the outside end of the first casing 100A and a sensor part 120 is provided in the outside end of the second casing 100B. The first casing 100A and the second casing 100B are slid to adjust a base line. For example, when the base line is doubled, the depth scale is doubled in proportion thereto, so that a distal object can be measured at the same resolution. The device body is provided with a separate casing 100C rotationally via a hinge part, the sensor part 120 is provided therein and the sensor part 120 is inclined inward, so that the effective region of the sensor 120 can be sufficiently utilized relative to a reflected light. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a three-dimensional image measurement device that measures a distance from an image sensor to an object with high accuracy and outputs a high-resolution image, and particularly to a high-resolution image from a position very close to a position far from a subject. The present invention relates to a three-dimensional image measurement device capable of measuring distance.
[0002]
[Prior art]
2. Description of the Related Art In recent years, a camera system that measures a distance to a subject using a light-section method and obtains distance information to perform processing such as a background has been attracting attention (for example, Patent Document 1 and Patent Document 1). 2).
The distance measurement method using the light section method has a high resolution of a measurable distance, and is used not only for home use but also for industrial use. In this light cutting method, a laser beam or the like is linearized by using a cylindrical lens or the like, and is reflected by a scanning mirror, so that a light projecting system that scans a predetermined area is provided. Is reflected on the subject, and reflected light is incident on the sensor. Therefore, distance information is obtained by calculation from the positional relationship between the light projecting system, the subject, and the image sensor at this time.
[0003]
[Patent Document 1]
JP-A-9-42931 [Patent Document 2]
Japanese Patent Application Laid-Open No. 9-229641
[Problems to be solved by the invention]
By the way, in the light cutting method based on the above-described principle, the distance measurement resolution is naturally higher when the distance between the laser emission point and the sensor (hereinafter, referred to as a base line) is larger.
However, when the baseline becomes long, there is a problem that the whole system becomes large.
In addition, when it is desired to measure a nearby object, a long baseline is not necessary, and a short baseline is sufficient for measurement.
Therefore, there has been a demand for a measuring device that can handle various distances from a distant subject to a near subject, but it has not been realized.
[0005]
Therefore, an object of the present invention is to provide a three-dimensional image measurement apparatus capable of measuring and imaging distance measurement and pattern recognition of an object at a short distance from an object at a relatively long distance with excellent resolution in view of the above-described circumstances. Is to provide.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides an image pickup device that performs image capturing and three-dimensional distance measurement, a light projecting system that emits light for three-dimensional distance measurement, and the image sensor and the light projecting system. And a device main body that is stored and arranged toward the subject at a distance of, and the device main body has a baseline adjustment mechanism that variably adjusts the distance between the image sensor and the light projecting system. .
Further, according to the present invention, there is provided an image pickup device that performs image capturing and three-dimensional distance measurement, a light projecting system that emits light for three-dimensional distance measurement, and a predetermined distance between the image pickup device and the light projecting system. A device main body that is housed and arranged in the direction of the subject, wherein the device main body includes an imaging angle adjustment mechanism that variably adjusts the angle of the imaging element.
Further, according to the present invention, there is provided an image pickup device that performs image capturing and three-dimensional distance measurement, a light projecting system that emits light for three-dimensional distance measurement, and a predetermined distance between the image pickup device and the light projecting system. A device main body that is housed and arranged in the direction of the subject, wherein the device main body includes a baseline adjustment mechanism that variably adjusts a distance between the image sensor and the light projecting system; And an adjusting mechanism.
[0007]
In the three-dimensional range image pickup device of the present invention, by having a baseline adjustment mechanism that variably adjusts the distance between the image pickup device and the light projecting system, the baseline between the image pickup device and the light projecting system can be adjusted according to the distance to the subject. It can be variably adjusted as appropriate, and by the optimal measurement work according to the distance of the subject, it is possible to properly measure from a relatively distant subject to a close subject, and perform measurement and imaging with high resolution It becomes.
In addition, the three-dimensional range image pickup device of the present invention includes the image pickup angle adjustment mechanism that variably adjusts the angle of the image pickup device, so that optimum image pickup can be performed even when the subject is close.
Furthermore, by combining both the baseline adjustment mechanism and the imaging angle adjustment mechanism, more effective measurement and imaging can be performed.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of a three-dimensional range image pickup device according to the present invention will be described.
The embodiment of the present invention solves the above-mentioned conventional problems by providing a baseline adjustment mechanism and an imaging angle adjustment mechanism in a three-dimensional range image capturing apparatus using a light section method.
That is, as a first feature, by providing a baseline adjustment mechanism, by adjusting the distance between the light projecting system of the measurement light source and the image pickup element, it is possible to optimize both when the subject is far and near. Measurement can be performed.
Further, as a second feature, by providing an imaging angle adjustment mechanism, it is possible to perform macroscopically appropriate photographing when the subject is located at a very close position.
It should be noted that such a baseline adjustment mechanism and an imaging angle adjustment mechanism alone have a sufficient effect, but a more remarkable effect can be obtained by a combination of both.
[0009]
Hereinafter, the configuration and operation of a specific embodiment will be sequentially described in detail with reference to the drawings.
FIG. 1 is an explanatory diagram illustrating a configuration example of a three-dimensional range image capturing apparatus according to a first embodiment of the present invention, and illustrates an example in which a baseline adjustment mechanism is provided.
FIG. 2 is an explanatory diagram showing a configuration example of a three-dimensional range image pickup device according to a second embodiment of the present invention, and shows an example in which an imaging angle adjustment mechanism is provided in addition to a baseline adjustment mechanism.
FIGS. 3 to 5 are explanatory diagrams illustrating the principle of three-dimensional distance measurement by a light section method used in each embodiment of the present invention. FIG. 3 shows the basic principle, and the operation is the same as the conventional operation when the baseline adjustment is not performed. FIG. 4 shows an operation when the baseline adjustment is performed from the state of FIG. FIG. 5 shows an operation when the imaging angle is adjusted.
[0010]
First, the principle of three-dimensional distance measurement and the adjustment operation in the present embodiment will be described with reference to the configuration examples shown in FIGS.
In FIG. 3, laser light (wavelength 780 nm) emitted from a laser light source 11 is condensed linearly by a cylindrical lens 12. Then, the linear laser light is applied to the subject 14 by the laser scanner mirror 13 which scans at a swing angle θ at a cycle of 30 Hz (arrow α).
Then, the laser light (arrow β) reflected from the subject 14 is captured by a sensor (solid-state image sensor) 16 via a lens 15, reflected from one point of the subject 14, and enters a single pixel 17 of the sensor 16. The distance to be measured corresponds to the one-to-one correspondence, and the distance is measured based on the principle of triangulation.
The distance measurement error has an accuracy of about 2 mm at a distance of 40 cm from the sensor 16 when scanning is performed at, for example, 15 Hz and when the laser scanner mirror 13 and the sensor 16 are separated by 18 cm.
[0011]
On the other hand, FIG. 4 shows a positional relationship when the baseline is separated by 40 cm.
For example, when the baseline is doubled, the depth scale is also doubled in proportion to it, so that a distant subject can be measured with the same resolution.
FIG. 5 shows a positional relationship when the sensor 16 is tilted inward with respect to the scanner mirror 13.
When measuring a subject at a short distance in macro photography, the sensor 16 can be tilted inward to make full use of the effective area of the sensor 16 for reflected laser light. That is, since the area of the object scanned by the laser beam is increased with respect to the effective pixels, the resolution is improved.
According to the above principle, it is possible to provide a three-dimensional image measuring apparatus capable of measuring and imaging distances and pattern recognition of a subject at a short distance from a relatively distant subject with excellent resolution.
[0012]
Next, the configuration and operation of the first embodiment for realizing the baseline adjustment shown in FIG. 4 will be described with reference to FIG.
First, this three-dimensional range image pickup device is provided with a light projecting system, a sensor unit (image pickup device), and a baseline adjustment mechanism in a cylindrical device main body 100 having a rectangular cross section.
The device main body 100 is divided into a first housing 100A and a second housing 100B that are divided into two in the longitudinal direction (baseline direction), and a light projecting system 110 is provided at an outer end of the first housing 100A. Is provided, and a sensor unit 120 is provided at an outer end of the second housing 100B.
[0013]
The first housing 100A and the second housing 100B are slidably joined to each other, and the positions of the first housing 100A and the second housing 100B are manually set as shown by an arrow a. The base line can be variably adjusted by sliding by operation (that is, this portion becomes the baseline adjustment mechanism 130).
Although not shown, inside the apparatus main body 100, a base line detecting means for detecting a relative position between the first housing 100A and the second housing 100B and a wiring board on which a control circuit is mounted are provided. In addition, the detection result by the baseline detection means is input to the control circuit, and the control circuit changes the calculation conditions according to the change of the baseline and performs processing such as distance measurement calculation.
[0014]
As the baseline detecting means, for example, an optical or magnetic scale provided on one of the housings 100A and 100B is read by an optical or magnetic sensor provided on the other, and a movement amount is counted. Alternatively, the change in the current is read by sliding the contact provided on the other against the linear resistor provided on one of the housings 100A and 100B and causing the detection current to flow, and reading the change in the current. It is possible to use a configuration for calculating the amount of movement.
That is, various types of such moving amount detecting means are conventionally provided in various kinds of automatic devices and electronic devices, and can be variously used in accordance with product specifications, necessary detection accuracy, and the like. Things.
[0015]
Further, the light projecting system 110 includes a laser light emitting source 111, a cylindrical lens 112, a laser scanner mirror 113, a scanning drive system (not shown), and the like.
The laser light emitted from the laser emission source 111 is condensed and linearized by the lens 112 and is irradiated on the scanner mirror 113.
The scanner mirror 113 scans at a constant speed and within a predetermined angle by a scanning drive system, and the laser beam is shaken by the scanner mirror 113, passes through the protection window 101 provided in the apparatus main body 100, and irradiates the subject. You.
[0016]
The sensor unit 120 has a solid-state imaging device 121 such as a CCD image sensor or a CMOS image sensor, and a condenser lens 122 and the like.
The laser light reflected from the subject enters through a protective window and fixed stop 102 provided in the apparatus main body 100 and enters a solid-state imaging device 121 via a lens 122.
The sensor unit 120 measures the distance to the subject according to the principle of triangulation by the method described above with reference to FIG. The sensor unit 120 can output an image simultaneously with distance measurement.
[0017]
In the three-dimensional range image capturing apparatus having the above-described configuration, the distance (base line) between the laser emission position of the light projecting system 110 and the light receiving unit of the sensor unit 120 can be changed by the above-described baseline adjustment mechanism. Therefore, there is an effect that a distant subject can be measured with the same resolution. For example, as described above, when the baseline is doubled, the depth scale is also doubled in proportion, so that measurement with the same resolution is possible.
[0018]
Next, a specific configuration and operation of the second embodiment for realizing the baseline adjustment and the sensor angle adjustment shown in FIGS. 4 and 5 will be described with reference to FIG. In FIG. 2, components common to those in FIG.
In this three-dimensional range image pickup device, a separation housing 100C is further provided at the outer end of the second housing 100B shown in FIG. 1, and the sensor unit 120 is provided on the separation housing 100C.
The separation housing 100C is provided on the second housing 100B via the hinge portion 103 so as to be rotatable in the horizontal direction (that is, the direction of a plane formed by the three points of the light projecting system, the sensor unit, and the subject). The tilt angle (arrow b) can be adjusted by a manual operation (that is, this portion becomes the imaging angle adjustment mechanism 140).
[0019]
Further, the rotation angle of the separation housing 100C is detected by an angle detecting means, and the detection result is transmitted to a control circuit. For example, a configuration in which an optical or magnetic scale provided on the separation housing 100C is read by an optical or magnetic sensor provided on the second housing 100B and the rotation amount is counted can be used. It is.
In addition, various types of such rotation amount detecting means have been conventionally provided in various kinds of automatic equipment and electronic equipment, and various means are used in accordance with product specifications and necessary detection accuracy. You can do it.
[0020]
Although the configuration of the sensor unit 120 itself is the same as the example shown in FIG. 1, in this example, a protective window and a fixed stop 104 are provided in the separation housing 100 </ b> C to control the incidence of light on the sensor unit 120. I have.
The rest is the same as the example shown in FIG.
[0021]
In such a three-dimensional range image capturing apparatus, when the distance to the subject to be measured is short, an image may be kicked. In this case, the sensor unit 120 can be tilted toward the reflected laser beam side by the imaging angle adjustment mechanism of the present example so that the subject to be measured is located near the center of the image.
Also, it should be noted that when the sensor unit 120 is tilted, the baseline changes at the same time. Therefore, in this example, the amount of movement between each of the housings 100A and 100B can be detected by the baseline detection means of the baseline adjustment mechanism, and the baseline can be obtained by calculation, and measurement reflecting this can be performed. it can.
[0022]
Although the specific embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications are possible.
For example, light other than laser light can be used as a light source, and as a configuration for obtaining linear light, a hologram element or the like can be used in addition to a cylindrical lens.
Further, the base line adjusting mechanism is not limited to a structure in which the base line is moved by a seamless slide structure, but may be a structure in which the base line adjusting mechanism is changed stepwise at predetermined unit dimensions. For example, protrusions and recesses that fit into the contact portions of the two housings described above are formed at predetermined intervals in the sliding direction, and the two housings are fitted and held at positions where the protrusions and the recesses match. The configuration may be such that In this way, the baseline detecting means can also have a simple configuration, and low-cost commercialization becomes possible.
Further, the specific configuration of the apparatus main body is not limited to the configuration using the cylindrical housing as described above, and various configurations can be adopted based on the concept of the product.
[0023]
【The invention's effect】
As described above, the three-dimensional range image pickup device of the present invention includes the baseline adjustment mechanism that variably adjusts the distance between the image pickup device and the light projecting system. The baseline can be variably adjusted as needed, and the optimum measurement work according to the distance of the subject enables the appropriate measurement from the relatively distant subject to the close subject, thereby achieving high resolution measurement and imaging Can be performed.
In addition, the three-dimensional range image pickup device of the present invention includes the image pickup angle adjustment mechanism that variably adjusts the angle of the image pickup device, so that optimum image pickup can be performed even when the subject is close.
Furthermore, by combining both the baseline adjustment mechanism and the imaging angle adjustment mechanism, more effective measurement and imaging can be performed.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram illustrating a configuration example of a three-dimensional range image capturing apparatus according to a first embodiment of the present invention.
FIG. 2 is an explanatory diagram illustrating a configuration example of a three-dimensional range image capturing apparatus according to a second embodiment of the present invention.
FIG. 3 is an explanatory diagram illustrating a basic principle of three-dimensional distance measurement by a light section method used in each embodiment of the present invention.
FIG. 4 is an explanatory diagram illustrating an operation when a baseline adjustment is performed from the state illustrated in FIG. 3;
FIG. 5 is an explanatory diagram showing an operation when the imaging angle is adjusted from the state shown in FIG. 4;
[Explanation of symbols]
100 device main body, 100A first housing, 100B second housing, 100C separated housing, 110 light projecting system, 111 laser emission source, 112 cylindrical lens Reference numeral 113, a laser scanner mirror, 120, a sensor unit, 121, a solid-state imaging device, 122, a condenser lens, 130, a baseline adjustment mechanism, 140, an imaging angle adjustment mechanism.

Claims (15)

An image sensor that captures an image and performs three-dimensional distance measurement;
A light emitting system for emitting light for three-dimensional distance measurement,
An apparatus main body that houses and arranges the image sensor and the light projecting system toward the subject at a predetermined distance,
The apparatus body has a baseline adjustment mechanism that variably adjusts the distance between the image sensor and the light projecting system,
A three-dimensional range image pickup device, characterized in that: 3. The tertiary system according to claim 1, wherein the baseline adjustment mechanism variably adjusts the distance between the image sensor and the light projecting system by manually operating an expansion / contraction mechanism provided in the apparatus main body. Original range image pickup device. A first housing provided with one of the image sensor and the light projecting system, and a slidable joint with the first housing provided with the other of the image sensor and the light projecting system. And a baseline adjustment mechanism that variably adjusts the distance between the image sensor and the light projecting system by sliding the second housing with respect to the first housing. 3. The three-dimensional range image pickup device according to claim 2, wherein: The three-dimensional range image pickup device according to claim 1, wherein the baseline adjustment mechanism includes a baseline detection unit that detects an adjusted distance between the image sensor and the light projecting system. An image sensor that captures an image and performs three-dimensional distance measurement;
A light emitting system for emitting light for three-dimensional distance measurement,
An apparatus main body that houses and arranges the image sensor and the light projecting system toward the subject at a predetermined distance,
The apparatus body has an imaging angle adjustment mechanism that variably adjusts the angle of the imaging element.
A three-dimensional range image pickup device, characterized in that: The three-dimensional range image pickup according to claim 5, wherein the imaging angle adjustment mechanism is configured to variably adjust the angle of the imaging element by manually operating a rotation mechanism provided in the apparatus main body. apparatus. The apparatus main body includes a separation housing provided with the imaging element, and a hinge unit rotatably joining the separation housing to the apparatus main body. The imaging angle adjustment mechanism hinges the separation housing. The three-dimensional range image pickup device according to claim 6, wherein the angle of the image pickup device is variably adjusted by rotating through the unit. The three-dimensional range image pickup device according to claim 5, wherein the image pickup angle adjustment mechanism includes an image pickup angle detection unit that detects an adjusted angle of the image pickup device. An image sensor that captures an image and performs three-dimensional distance measurement;
A light emitting system for emitting light for three-dimensional distance measurement,
An apparatus main body that houses and arranges the image sensor and the light projecting system toward the subject at a predetermined distance,
The apparatus body has a baseline adjustment mechanism for variably adjusting the distance between the image sensor and the light projecting system, and an imaging angle adjustment mechanism for variably adjusting the angle of the image sensor.
A three-dimensional range image pickup device, characterized in that: 10. The tertiary tertiary system according to claim 9, wherein the baseline adjustment mechanism variably adjusts a distance between the image sensor and the light projecting system by manually operating a telescopic mechanism provided in the apparatus main body. Original range image pickup device. A first housing provided with one of the image sensor or the light projecting system, and a slidably joined to the first housing provided with the other of the image sensor or the light projecting system. And a base line adjusting mechanism that variably adjusts a distance between the image sensor and the light projecting system by sliding the second case with respect to the first case. 11. The three-dimensional range image pickup device according to claim 10, wherein: The three-dimensional range image pickup device according to claim 9, wherein the baseline adjustment mechanism includes a baseline detection unit that detects an adjusted distance between the image sensor and the light projecting system. 10. The three-dimensional distance image pickup according to claim 9, wherein the imaging angle adjustment mechanism variably adjusts the angle of the imaging element by manually operating a rotation mechanism provided in the apparatus main body. apparatus. The apparatus main body includes a separation housing provided with the imaging element, and a hinge unit rotatably joining the separation housing to the apparatus main body. The imaging angle adjustment mechanism hinges the separation housing. 14. The three-dimensional range image pickup device according to claim 13, wherein the angle of the image pickup device is variably adjusted by rotating through the unit. 10. The three-dimensional range image pickup device according to claim 9, wherein the image pickup angle adjustment mechanism includes an image pickup angle detection unit that detects an adjusted angle of the image pickup device.

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