JP2017083371A - Light irradiation device and light irradiation method - Google Patents

Abstract

An object recognized by scanning with an infrared laser beam is actively irradiated with visible light to differentiate the detected object. A scanning mirror section (13) performs two-dimensional scanning with visible laser light and infrared laser light. The reflected light detection unit (PD2) detects the reflected light of the infrared laser light irradiated through the scanning mirror unit (13). The object recognition unit (22) recognizes an object located within the irradiation range 2 of the infrared laser light based on the reflected light detected by the reflected light detection unit (PD2). The irradiation control unit (24) controls the visible laser beam to be irradiated to the first irradiation range in the scanning range scanned by the scanning mirror unit (13), and the object recognized by the object recognition unit (22). Control is performed so that an image drawn in the second irradiation range is drawn by the visible laser beam in the corresponding second irradiation range. [Selection] Figure 1

Description

  The present invention relates to a light irradiation apparatus and a light irradiation method for two-dimensionally scanning laser light.

  There is a technique for drawing an image by scanning a visible laser beam by a micro electro mechanical system (MEMS) mirror. Such a technique is applied to a vehicle headlight using laser light, an image drawing apparatus for drawing an image with laser light, or the like. In addition, there is a technique for scanning an infrared laser beam by swinging a MEMS mirror to detect an object in a scanning range, and a technique for simultaneously scanning a visible light laser for drawing an image and an infrared laser for object detection. Further, when an object is detected by scanning with infrared laser light, processing such as stopping irradiation of visible laser light on the detected object may be performed.

JP, 2014-20951, A

  However, in the conventional technology, it is not possible to show the viewer the object recognized by actively irradiating visible light to the object recognized by the scanning of the infrared laser beam, and to differentiate the detected object or give added value. There wasn't. Further, it was not intended to perform light irradiation following the movement of the recognized object.

  This invention is made | formed in view of such a condition, The objective is to provide the light irradiation technique which irradiates the detected object with visible light, and differentiates.

  In order to solve the above problems, a light irradiation device (1) according to an aspect of the present invention includes a first light source unit (Db, Dg, Dr) that emits visible laser light and a second light source that emits infrared laser light. A light source unit (Dir), a scanning mirror that two-dimensionally scans visible laser light emitted from the first light source unit (Db, Dg, Dr) and infrared laser light emitted from the second light source unit (Dir) Detected by the reflected light detector (PD2) and the reflected light detector (PD2) that detects the reflected light of the infrared laser light irradiated through the scanning mirror unit (13). Based on the reflected light, the object recognition unit (22) for recognizing an object located within the irradiation range of the infrared laser light, and the first irradiation range in the scanning range scanned by the scanning mirror unit (13) Visible from the first light source (Db, Dg, Dr) The laser beam is controlled so as to be irradiated, and the second laser light source from the first light source unit (Db, Dg, Dr) enters the second irradiation range corresponding to the object recognized by the object recognition unit (22). An irradiation control unit (24) that controls to draw an image to be drawn in the second irradiation range.

  Another aspect of the present invention is a light irradiation method. The method includes two-dimensional scanning with visible laser light and infrared laser light, detecting reflected light of the irradiated infrared laser light, and based on the detected reflected light, the infrared laser light. A step of recognizing an object located within the irradiation range, and a second control corresponding to the recognized object are controlled so that the visible laser beam is irradiated to the first irradiation range in the scanning range by two-dimensional scanning. Controlling to draw an image to be drawn in the second irradiation range by the visible laser beam in the irradiation range.

  It should be noted that any combination of the above-described constituent elements and a representation of the present invention converted between a method, an apparatus, a system, etc. are also effective as an aspect of the present invention.

  According to the present invention, the detected object can be differentiated by being irradiated with visible light.

It is a figure which shows the structure of the light irradiation apparatus which concerns on embodiment of this invention. It is a flowchart explaining the light irradiation procedure by the light irradiation apparatus of FIG. It is a flowchart explaining another light irradiation procedure by the light irradiation apparatus of FIG. It is the figure which drawn typically the example which applies the light irradiation apparatus which concerns on this Embodiment to the headlight for vehicles. FIG. 6 is a flowchart illustrating a detailed procedure of second irradiation range setting processing corresponding to the object attribute of FIG. 3 according to the first embodiment. Fig.6 (a)-FIG.6 (c) are the figures explaining the 1st irradiation range and the 2nd irradiation range in case the recognized object is a falling object. FIG. 7A to FIG. 7C are diagrams illustrating the first irradiation range and the second irradiation range when the recognized object is a person. Fig.8 (a)-FIG.8 (c) are figures explaining the 1st irradiation range and the 2nd irradiation range in case the recognized object is a vehicle. It is a figure explaining the example which sets the 2nd irradiation range in the advancing direction of an object. It is a figure explaining the example which sets the 1st irradiation range so that the recognized object may be avoided. FIG. 10 is a flowchart illustrating a detailed procedure of second irradiation range setting processing corresponding to the object attribute of FIG. 3 according to a second embodiment. It is a figure explaining the table which matched the attribute of the object, and the 2nd picture. FIG. 13A shows an example of a first image projected on the first irradiation range, and FIG. 13B shows an example of a second image projected on the second irradiation range. It is a figure which shows the screen projected by a projector apparatus. FIG. 15A to FIG. 15D are diagrams for explaining an example of the second irradiation range set when the specific-shaped object enters the scanning range. FIG. 16A to FIG. 16D are diagrams for explaining another example of the second irradiation range set when the specific-shaped object enters the scanning range. FIG. 17A shows an example of the first image projected on the first irradiation range, and FIG. 17B shows an example of the second image projected on the second irradiation range. FIG. 18A to FIG. 18D are diagrams for explaining an example of the second irradiation range set when the specific-shaped object enters the scanning range.

  FIG. 1 is a diagram showing a configuration of a light irradiation apparatus 1 according to an embodiment of the present invention. The light irradiation device 1 includes a laser light source unit 10, and the laser light source unit 10 includes a visible laser light source unit that emits visible laser light and an infrared laser light source unit that emits infrared laser light. FIG. 1 illustrates an example in which three primary color laser light sources (blue laser diode Db, green laser diode Dg, and red laser diode Dr) are used as visible laser light sources.

  A collimator lens 11 is arranged at the emission part of the blue laser diode Db, and substantially collimated blue collimated light is formed. Similarly, a collimator lens 11 is disposed at the emission part of the green laser diode Dg, and substantially collimated green collimated light is formed. Similarly, a collimator lens 11 is disposed at the emission portion of the red laser diode Dr, and substantially collimated green collimated light is formed. Similarly, a collimator lens 11 is disposed at the emission part of the infrared laser diode Dir, and substantially collimated infrared collimated light is formed.

  The optical axes of the respective laser beams emitted from the three primary color laser light sources and the infrared laser light source are adjusted to be substantially coaxial via the four dichroic mirrors 12 and synthesized. The laser beam light synthesized substantially coaxially is incident on the deflection mirror 13.

  The blue laser diode Db, the green laser diode Dg, and the red laser diode Dr are driven by the visible light source driver 33 and controlled to emit / extinguish light independently. The infrared laser diode Dir is driven by an infrared light source driver 32 and is controlled to emit / extinguish. Therefore, the laser light source unit 10 can emit infrared laser light, visible laser light, or laser light in which both are superimposed.

  The deflecting mirror 13 is a biaxial deflecting mirror that can rotate biaxially, and a MEMS mirror or a polygon mirror can be used. In the following description, an example is assumed in which a MEMS mirror capable of high-speed and fine scanning is used. The deflection mirror 13 reflects the laser light incident from the laser light source unit 10 and performs two-dimensional scanning. In the following description, an example of raster scanning as two-dimensional scanning is assumed. A Lissajous scan can be used instead of the raster scan.

  The laser beam raster-scanned by the deflection mirror 13 is projected to the outside from a projection port (not shown). When an object exists in the space in the projection direction, the laser light projected from the projection port is reflected on the object surface. The projection direction varies depending on the usage application of the light irradiation device 1. If the light irradiation device 1 is used for detecting an object in front of the vehicle, a wide range in front of the vehicle is two-dimensionally scanned with the vehicle front as the projection direction. . An object detected in this case is a person, another vehicle, a building, or the like. When only infrared laser light is projected, a human cannot see. In FIG. 1, the raster scan locus of the laser beam in the laser beam irradiation range 2 is schematically drawn.

  The infrared laser light emitted from the infrared laser diode Dir is branched by the first stage dichroic mirror 12 and enters the reference light detector PD1. The reference light detector PD1 converts the incident infrared laser light into an electric signal (hereinafter referred to as a reference signal) and outputs it. The amplifier AP1 amplifies the reference signal output from the reference light detector PD1.

  Infrared laser light emitted from the infrared laser diode Dir is also irradiated to the outside through the deflection mirror 13. The irradiated infrared laser light is reflected by the surface of various substances existing outside. The condensing lens 14 condenses the reflected infrared laser light. The reflected light detector PD2 converts infrared laser reflected light incident through the condenser lens 14 into an electrical signal (hereinafter referred to as a detection signal) and outputs the electrical signal. The amplifier AP2 amplifies the detection signal output from the reflected light detector PD2. Although not shown, detection malfunction can be reduced by disposing an optical filter that transmits infrared rays and blocks visible light in front of the reflected light detector PD2.

  The synchronous clock supply unit 31 includes an oscillator such as a crystal resonator, and generates a synchronous signal from the output signal of the oscillator. The synchronization clock supply unit 31 supplies the generated synchronization signal to the infrared light source driver 32, the visible light source driver 33, the scanning mirror driver 34, and the distance measurement unit 21.

  The scanning mirror driver 34 performs raster scan control of the deflection mirror 13 based on the synchronization signal supplied from the synchronization clock supply unit 31. That is, the scanning mirror driver 34 sequentially moves the scanning position from the upper left end of the scanning area toward the lower right end. Specifically, the X-axis direction (main scanning direction) is updated sequentially from left to right, and when the scan position reaches the right end, the Y-axis direction (sub-scanning direction) is updated one downward. By repeating this process, the scan position reaches the lower right end of the scan area. When the right lower end is reached, the raster scan for one frame is completed, and the raster scan of the next frame starts from the upper left end. The raster scan is performed for 60 frames per second, for example. The frame rate is not limited to 60 Hz, but may be 15 Hz, 30 Hz, 120 Hz, or the like.

  The infrared light source driver 32 causes the infrared laser diode Dir to emit pulses based on the synchronization signal supplied from the synchronization clock supply unit 31. The infrared laser light emitted from the infrared laser diode Dir is detected as reference light by the reference light detector PD1. The infrared laser light is raster-scanned by the deflecting mirror 13, then reflected by the surface of the substance existing in the irradiation range 2, and detected as reflected light by the reflected light detector PD2.

  The reference signal detected as the reference light by the reference light detector PD1 is amplified by the amplifier AP1 and output to the distance measuring unit 21. The detection signal detected as reflected light by the reflected light detector PD2 is amplified by the amplifier AP2 and output to the distance measuring unit 21.

  The distance measuring unit 21 measures the distance from the light irradiation device 1 to the reflection point based on the amount of time delay with respect to the reference signal of the detection signal (TOF (Time of Flight) method). Since the same synchronization signal is input to the infrared light source driver 32, the scanning mirror driver 34, and the distance measurement unit 21, the distance measurement unit 21 can detect how many clocks are delayed for each scan position, and according to the number of delay clocks. Thus, the distance to the reflection point at each scan position can be estimated. The distance measurement unit 21 outputs distance information of each scan position to the object recognition unit 22.

  The object recognition unit 22 compares the distance input from the distance measurement unit 21 with the set distance, and recognizes the presence of the object when the input distance is equal to or less than the set distance. The set distance is set to a distance shorter than the distance to a reflection point (for example, the ground or a wall) in a state where no obstacle exists. The distance to the reflection point varies depending on the installation position and usage location of the light irradiation device 1.

  The object recognition unit 22 generates distance map data in which distance information of each scan position is mapped for each frame. The object recognition unit 22 identifies the position and shape of the object based on the distance map data. When the detection distance is close at adjacent scan positions, it is determined that they are the same object.

  The pattern holding unit 23 holds identification pattern data of various objects. For example, pedestrian identification pattern data, automobile identification pattern data, and the like are stored. The object recognition unit 22 collates the shape of the object detected from the distance map data with the pattern data held in the pattern holding unit 23, and determines the type of the object. For this verification, a general pattern matching algorithm may be used, and the algorithm is not particularly limited.

  When the object recognition unit 22 recognizes an object in the frame, the object recognition unit 22 supplies the generated distance map data of the frame to the irradiation control unit 24. When the object type is determined, the object type is also supplied to the irradiation controller 24.

  The irradiation control unit 24 performs control so that visible laser light is irradiated to the first irradiation range. Further, the irradiation control unit 24 determines a second irradiation range corresponding to the object recognized by the object recognition unit 22 based on the distance map data supplied from the object recognition unit 22, and makes the second irradiation range by visible laser light. Control the video to be drawn. The video data is selected according to the recognized object type.

  The irradiation control unit 24 controls the first irradiation range to be irradiated with white laser light, and controls the second irradiation range to be irradiated with an image having a color tone different from that of the white laser light. Also good. The irradiation control unit 24 controls the first irradiation range so that the first image based on the first image data is drawn by visible laser light, and the second irradiation range is different from the first image data. You may control so that the 2nd image | video based on 2 image | video data is drawn with visible laser beam.

  Although the shape of the object recognized by the object recognizing unit 22 may be set as the second irradiation range, the second irradiation range does not need to completely match the position of the object recognized by the object recognizing unit 22. A wide range including the object may be set as the second irradiation range. The second irradiation range may be set below the object or around the object (for example, a position near the object). For example, when the object is a person, from the viewpoint of the person's eye-safety, the body region excluding the head range may be set as the second irradiation range.

  The video data drawn in the second irradiation range may be plain color data, may be image data including a specific pattern, mark, character, or the like, and includes a message for the user of the light irradiation device 1. May be. These video data are held in the projection data holding unit 25.

  The content of the video data may be determined according to the distance to the recognized object, or the content of the video data may be determined according to the shape of the object. The content of the video data may be determined according to the type of object. For example, the content of the video data may be determined according to whether the person is a person, a fallen object, or a vehicle.

  The irradiation control unit 24 supplies the projection data determined for each frame to the projection data setting unit 26 together with information on the first irradiation range and the second irradiation range. The projection data setting unit 26 sets the supplied projection data and the first and second irradiation ranges in the visible light source driver 33. The visible light source driver 33 drives the blue laser diode Db, the green laser diode Dg, and the red laser diode Dr according to the set projection data, and irradiates the first irradiation range and the second irradiation range with the projection data. Thereby, visible light is irradiated to the first irradiation range, and an image is drawn with visible light to the second irradiation range. A first image by visible light may be drawn in the first irradiation range, and a second image different from the first image by visible light may be drawn in the second irradiation range.

  Each laser diode can control the color gradation by controlling the applied voltage. With such a configuration capable of gradation control, more various colors can be reproduced.

  FIG. 2 is a flowchart for explaining a light irradiation procedure by the light irradiation apparatus 1. Here, the scanning procedure of the nth frame will be described.

  The infrared light source driver 32 irradiates the scanning range with infrared laser light (S10). The distance measuring unit 21 measures the distance from the light irradiation device 1 to the object using the reflected light from the object irradiated with the infrared laser beam, and the object recognizing unit 22 is based on the measured distance. Recognize the presence of an object.

  The irradiation control unit 24 controls the projection data setting unit 26 and the visible light source driver 33 so as to irradiate visible laser light to the first irradiation range (S12). The visible light laser beam may be white light for brightening the first irradiation range, or may be visible light having a color tone for drawing the first video.

  When the object recognition unit 22 has recognized the object in the (n-1) th frame (Yes in S14), the irradiation control unit 24 sets a second irradiation range corresponding to the object recognized by the object recognition unit 22, and performs projection. Data and information on the second irradiation range are supplied to the projection data setting unit 26 (S16). The projection data setting unit 26 sets the projection data and the second irradiation range in the visible light source driver 33, and the visible light source driver 33 draws the second video based on the projection data in the second irradiation range (S18).

  When the object recognition unit 22 has not recognized the object in the (n-1) th frame (No in S14), the process skips step S16 and step S18 and proceeds to step S20.

  In the nth frame, the object recognition unit 22 checks whether or not an object exists (S20). When the object recognition unit 22 recognizes an object in the nth frame (Yes in S20), the range in which the object is recognized in the scanning range is stored (S22). When the object recognition unit 22 does not recognize an object in the nth frame (No in S20), step S22 is skipped.

  The nth frame scan is completed, and the processing from step S10 to step S22 is repeated for the (n + 1) th frame.

  FIG. 3 is a flowchart for explaining a light irradiation procedure by the light irradiation apparatus 1 when the second irradiation range is set according to the attribute of the object. Steps common to the flowchart of FIG. 2 are denoted by the same reference numerals, description thereof is omitted, and steps different from the flowchart of FIG. 2 will be described.

  When the object recognition unit 22 recognizes an object in the (n−1) th frame (Yes in S14), the irradiation control unit 24 sets a second irradiation range corresponding to the attribute of the object recognized by the object recognition unit 22. Then, the projection data and information on the second irradiation range are supplied to the projection data setting unit 26 (S17). The detailed procedure of step S17 will be described later because it differs depending on the embodiment.

  When the object recognition unit 22 recognizes an object in the nth frame (Yes in S20), the object recognition unit 22 determines the attribute of the recognized object (S21), and the range in which the object is recognized within the scanning range and the object The attribute is stored (S23).

  Hereinafter, examples of the light irradiation apparatus 1 according to the present embodiment will be described.

Example 1
FIG. 4 is a diagram schematically illustrating an example in which the light irradiation device 1 according to the present embodiment is applied to a vehicle headlight. The light irradiation device 1 is mounted on the left and right headlights of the vehicle. Hereinafter, in order to simplify the description, an example in which the headlight is mounted on either the left or right headlight will be described.

  When the light irradiation device 1 is used as a vehicle headlight, the first irradiation range corresponds to a range in which white light is irradiated as a headlight when viewed from the vehicle. The scanning range is in front of the vehicle. For example, the scanning mirror driver 34 scans the scanning range 180 times per second. Infrared laser light is output for the entire scanning range. Visible laser light, here, white laser light as a headlight, is output only during scanning of the first irradiation range in the scanning range.

  The object recognition unit 22 recognizes an object in the scanning range based on the reflected light of the infrared laser light. The recognized object is, for example, another vehicle (a parked vehicle, a preceding vehicle, an oncoming vehicle, etc.) or a pedestrian in front of the vehicle. The recognition of the object may be performed by shape matching using only the reflected light of the infrared laser beam, or the image recognition result based on the image of the visible light camera may be used or used together.

  According to the light irradiation apparatus 1 of the first embodiment, white laser light is irradiated as a headlight to the first irradiation range, while infrared laser light is projected to the scanning range, and an object is detected within the scanning range. In this case, the object or the periphery of the object is set as the second irradiation range, and the visible laser beam having a tone different from that of the white laser beam is irradiated toward the second irradiation range, and a predetermined image is drawn. When an object such as a pedestrian, a two-wheeled vehicle, a parked vehicle, a preceding vehicle, an oncoming vehicle, or an obstacle is detected in front of the vehicle, an image is drawn on the object or its surroundings to alert the driver.

  Note that the laser light emitted as the headlight is not limited to a strict white color, but may be any color tone used as a headlight. For example, it may be yellowish white light, bluish white light, or the like. If the image projected on the detected object or its surroundings is to convey the presence of an obstacle to the driver of the vehicle, a solid image with a prominent color tone such as red or yellow, or a dynamic image with a prominent color tone that attracts the line of sight It may be a video.

  FIG. 5 is a flowchart for explaining the detailed procedure of the second irradiation range setting process corresponding to the object attribute in step S17 of FIG. 3 according to the first embodiment.

  The attribute of the object recognized by the object recognition unit 22 in the (n-1) th frame and the range in which the object is recognized are acquired (S30).

  When the object recognition range is less than the predetermined size (No in S32), the object recognition unit 22 sets the object recognition range to the second irradiation range (S34), and proceeds to step S44. As an example, when the recognition range of the object is less than 50 cm × 50 cm, the recognized object is considered to be a fallen object or a small animal, so the entire recognition range of the object is set as the second irradiation range.

  When the recognition range of the object is equal to or larger than the predetermined size (Yes in S32), the object recognition unit 22 then refers to the identification pattern data of various objects held in the pattern holding unit 23, and recognizes the recognized object. It is determined whether the attribute is a person or a light vehicle (S36).

  When the recognized attribute of the object is a person or a light vehicle (Yes in S36), the object recognition unit 22 sets the periphery of the object recognition range as the second irradiation range (S38). A part of the object recognition range may be included around the object recognition range. The object recognizing unit 22 selects the second video corresponding to the attribute of the object irradiated to the second irradiation range from the projection data holding unit 25, and the projection data setting unit 26 sets information regarding the second video data and the second irradiation range. (S40). Here, since the attribute of the object is a light vehicle such as a person or a two-wheeled vehicle, for example, a warning image including a message to alert the driver is selected as the second video.

  The reason for irradiating the second image with the periphery of the object recognition range set as the second irradiation range will be described. If the recognized object is a light vehicle such as a pedestrian or two-wheeled vehicle, it may pop out on the road, so the second image is emitted around the pedestrian or light vehicle and in the direction of travel to alert the driver. It is necessary. The periphery of the object may be a wide range including the lower part of the recognized object or a range closer to the host vehicle than the recognized object.

  If the recognized attribute of the object is neither a person nor a light vehicle (No in S36), the object may be a parked vehicle, a preceding vehicle, an oncoming vehicle, and the like. The lower part is set as the second irradiation range (S42). As an example, the lower 10% to 30% of the object recognition range is set as the second irradiation range. The object recognizing unit 22 selects the second video corresponding to the attribute of the object irradiated to the second irradiation range from the projection data holding unit 25, and the projection data setting unit 26 sets information regarding the second video data and the second irradiation range. (S44). Here, since the attribute of the object is a vehicle, for example, a red solid image that prompts the driver to keep ahead is selected as the second video.

  The reason why the second image is irradiated with the lower part of the object recognition range set as the second irradiation range will be described. This is because the purpose of the irradiation of the second video is to make the driver recognize the presence of an obstacle, and therefore it is preferable to draw the second video in a range close to the height of the driver's line of sight. In addition, when the recognized object is a preceding person or an oncoming vehicle, it is necessary to set the irradiation position so as not to make the other party uncomfortable, and in particular, it is necessary to irradiate the second image while avoiding the driver or the occupant of the other vehicle. is there.

  FIG. 6A to FIG. 6C are diagrams illustrating the first irradiation range 110 and the second irradiation range 120 when the recognized object is a falling object.

  FIG. 6A shows a scanning range 100 using infrared laser light and a first irradiation range 110 irradiated with a headlight. FIG. 6B shows a fallen object (here, cardboard) 200 on the road recognized as an object by the object recognition unit 22. Since the recognition range of the object is less than the predetermined size, the entire recognition range of the falling object 200 is set as the second irradiation range 120 as shown in FIG. Here, in the second irradiation range 120, a solid red image that draws a warning to the driver is drawn as the second image.

  Fig.7 (a)-FIG.7 (c) are the figures explaining the 1st irradiation range 110 and the 2nd irradiation range 120 in case the recognized object is a person.

  FIG. 7A shows a scanning range 100 using infrared laser light and a first irradiation range 110 irradiated with a headlight. FIG. 7B shows the person 210 recognized as an object by the object recognition unit 22. Since the recognition range of the object is equal to or larger than the predetermined size and the attribute of the object is a person, the periphery of the recognition range of the person 210 is set as the second irradiation range 120 as shown in FIG. Here, in the second irradiation range 120, a warning image including the characters “caution” is drawn as the second video.

  Fig.8 (a)-FIG.8 (c) are the figures explaining the 1st irradiation range 110 and the 2nd irradiation range 120 in case the recognized object is a vehicle.

  FIG. 8A shows a scanning range 100 using infrared laser light and a first irradiation range 110 irradiated with a headlight. FIG. 8B shows the vehicle 220 recognized as an object by the object recognition unit 22. Since the recognition range of the object is equal to or larger than the predetermined size and the attribute of the object is a vehicle, the lower part of the recognition range of the vehicle 220 is set to the second irradiation range 120 as shown in FIG. Here, in the second irradiation range 120, a solid red image that draws a warning to the driver is drawn as the second image.

  FIG. 9 is a diagram illustrating an example in which the second irradiation range is set in the traveling direction of the object. When the recognized object is a person or a light vehicle, the second irradiation range 120 is set in the traveling direction of the object, and an image that draws attention to the driver is drawn. In the case of FIG. 9, since the person 212 is recognized and walking in the left direction, the second irradiation range 120 is set on the left side of the person 212, and a warning image including the characters “caution” is drawn. The traveling direction of the object is detected based on the transition of the position of the object for each frame.

  FIG. 10 is a diagram illustrating an example in which the first irradiation range 110 is set so as to avoid a recognized object. If the recognized object is another vehicle or a pedestrian in front of the vehicle, the first irradiation range 110 is set to avoid the object in consideration of problems such as eye safety. In the case of FIG. 10, since the person 214 has been recognized, the first irradiation range 110 is set so as to avoid the face and upper body of the person 214 so that the headlight is not directly irradiated to the person 214.

  In the first embodiment, it has been described that infrared laser light is output for the entire scanning range, and visible laser light is output only during scanning of the first irradiation range. The output of the infrared laser beam is not an output for the entire scanning range, but may be a range wider than the first irradiation range and requiring recognition of an object.

(Example 2)
In the second embodiment, the light irradiation device 1 is applied to a projector device.

  When the light irradiation device 1 is used for the projector device, the projector device simultaneously scans the visible laser beam and the infrared laser beam and performs image drawing with the visible laser beam. The projector device projects a first image (still image or moving image) using an external projection surface as a first irradiation range. When an object is detected between the projector device and the projection surface based on the reflected light of the infrared laser light, the object recognition range is set to the second irradiation range, and the period during which the object is recognized is An image obtained by combining the image with the second image in the second irradiation range is generated and drawn with a visible laser.

  For example, when a video from a projector device is used for a presentation, when the presentation screen is the first video and the presenter presents, for example, a plain rectangular board in front of the presentation screen, the object recognition unit 22 recognizes the presenter and the board as objects. However, since the recognized object includes a specific shape (in this case, a rectangle), the second image is drawn only on the rectangular board. Thereby, an effective presentation using a sub-screen different from the presentation screen can be performed.

  FIG. 11 is a flowchart for explaining the detailed procedure of the second irradiation range setting process corresponding to the object attribute in step S17 of FIG. 3 according to the second embodiment.

  The attribute of the object recognized by the object recognition unit 22 in the (n-1) th frame and the range in which the object is recognized are acquired (S50).

  The object recognition unit 22 checks whether the attribute of the recognized object is a predetermined shape (S52). As the shape of the object, an identification pattern such as a rectangle, a circle, a human shape, or a shape imitating an animal is registered in advance, and it is checked whether or not the recognized shape of the object matches the identification pattern.

  When the attribute of the recognized object is a predetermined shape (Yes in S52), the object recognition unit 22 sets the object recognition range to the second irradiation range (S54). The object recognizing unit 22 determines the second image to be irradiated to the second irradiation range according to the attribute of the object (S56).

  FIG. 12 is a diagram for explaining a table in which the attribute of the object is associated with the second video. Here, the attribute of the object is the shape of the object, which includes a person shape, a shape imitating an animal, a rectangle, and a circle, and each of the files 02-0001. mov, 02-0002. mov, 02-0003. mov, 02-0004. mov is associated. The object recognition unit 22 refers to this table and selects the second video according to the shape of the object.

  FIG. 13A shows an example of a first image projected on the first irradiation range, and FIG. 13B shows an example of a second image projected on the second irradiation range.

  FIG. 14 is a diagram showing a screen projected by the projector device. A first irradiation range 110 is set in the scanning range 100, and the first image in FIG. 13A is drawn in the first irradiation range 110 by the projector. The first irradiation range 110 is a drawing range of the projector.

  The specific shape object 300 shown in FIG. 14 is a rectangular white board here. In FIG. 14, since the specific shape object 300 is outside the scanning range 100 and is not irradiated with infrared laser light, the object recognition unit 22 does not recognize the specific shape object 300 as an object. When the user moves the specific shape object 300 into the scanning range 100, the object recognition unit 22 recognizes the specific shape object 300, and the specific shape object 300 is set to the second irradiation range. A second image is drawn by visible laser light.

  FIGS. 15A to 15D are diagrams illustrating an example of the second irradiation range 120 set when the specific-shaped object 300 enters the scanning range 100. FIG.

  FIG. 15A shows a state where the specific shape object 300 is inserted from the left end of the scanning range 100. A part of the right side of the specific shape object 300 is within the scanning range 100, and the object recognition unit 22 detects a part of the right side of the specific shape object 300 as a rectangular shape, but the recognition range of the object is less than a predetermined size. Therefore, the object recognition unit 22 does not recognize the specific shape object 300 as an object here. Therefore, the second image is not drawn on the specific shape object 300, and a part of the first image drawn in the first irradiation range 110 is projected onto the specific shape object 300 within the scanning range 100. Become.

  In FIG. 15B and FIG. 15C, since the entire specific shape object 300 is within the scanning range 100, the object recognition unit 22 recognizes the specific shape object 300 as a rectangular object of a predetermined size and specifies it. The recognition range of the shape object 300 is set as the second irradiation range 120, and the second image in FIG. 13B is drawn in the second irradiation range 120. As a result, an image in which the second image of the second irradiation range 120 is inserted into the first image of the first irradiation range 110 is drawn on the screen. Here, even if the user moves the front of the screen with the specific-shaped object 300 in hand, the user's figure is not a rectangular shape, so that it is not recognized as an object, and only the specific-shaped object 300 is recognized as an object.

  FIG. 15D shows a state in which the specific shape object 300 is removed from the right end of the scanning range 100. A part of the left side of the specific shape object 300 is within the scanning range 100, and the object recognition unit 22 detects a part of the left side of the specific shape object 300 as a rectangular shape, but the object recognition range is less than a predetermined size. Therefore, the object recognition unit 22 does not recognize the specific shape object 300 as an object here. Therefore, the second image is not drawn on the specific shape object 300, and a part of the first image drawn in the first irradiation range 110 is projected onto the specific shape object 300 within the scanning range 100. Become.

  FIGS. 16A to 16D are diagrams for explaining another example of the second irradiation range 120 set when the specific-shaped object 300 enters the scanning range 100. FIG.

  FIG. 16A shows a state in which the specific shape object 300 is inserted from the left end of the scanning range 100. A part of the right side of the specific shape object 300 is within the scanning range 100, and the object recognition unit 22 detects a part of the right side of the specific shape object 300 as a rectangular shape. In this example, the object recognition unit 22 recognizes a rectangle as an object regardless of the size of the rectangle. Therefore, a part of the right side of the specific shaped object 300 is set to the second irradiation range 120, and a part of the second video is drawn.

  In FIG. 16B and FIG. 16C, the entire specific shape object 300 is within the scanning range 100, the object recognition unit 22 recognizes the specific shape object 300, and the entire specific shape object 300 is second irradiated. The range 120 is set, and the second image in FIG. 13B is drawn in the second irradiation range 120. This is the same as FIG. 15 (b) and FIG. 15 (c).

  FIG. 16D shows a state where the specific shape object 300 is removed from the right end of the scanning range 100. A part of the left side of the specific shape object 300 is within the scanning range 100, and the object recognition unit 22 detects a part of the left side of the specific shape object 300 as a rectangular shape, and the detected rectangle regardless of the size of the rectangular shape. Recognize the shape as an object. Therefore, a part of the left side of the specific shaped object 300 is set to the second irradiation range 120, and a part of the second video is drawn.

  Although the case where the specific shape detected by the object recognition unit 22 is a rectangular shape has been described, the specific shape may be any other shape, or may be the shape of a person or an animal.

  FIG. 17A shows an example of the first image projected on the first irradiation range, and FIG. 17B shows an example of the second image projected on the second irradiation range. FIG. 17B has the same background as FIG. 17A, but a different video as shown in FIG. 13B may be used.

  18A to 18D are diagrams illustrating an example of the second irradiation range 120 that is set when the specific-shaped object 300 enters the scanning range 100. FIG.

  FIG. 18A shows a state where the specific shape object 300 is inserted from the left end of the scanning range 100. A part of the right side of the specific shape object 300 is within the scanning range 100, and the object recognition unit 22 detects a part of the right side of the specific shape object 300 as a rectangular shape. In this example, the object recognition unit 22 recognizes a rectangle as an object regardless of the size of the rectangle. Therefore, a part of the right side of the specific shaped object 300 is set to the second irradiation range 120, and a portion corresponding to the second irradiation range 120 in the second image having the same size as the first image is drawn.

  In FIG. 18B and FIG. 18C, the entire specific shape object 300 is within the scanning range 100, the object recognition unit 22 recognizes the specific shape object 300, and the entire specific shape object 300 is second irradiated. A portion corresponding to the second irradiation range 120 in the second image, which is set as the range 120 and has the same size as the first image, is drawn.

  FIG. 18D shows a state in which the specific shape object 300 is removed from the right end of the scanning range 100. A part of the left side of the specific shape object 300 is within the scanning range 100, and the object recognition unit 22 detects a part of the left side of the specific shape object 300 as a rectangular shape, and the detected rectangle regardless of the size of the rectangular shape. Recognize the shape as an object. Therefore, a part of the left side of the specific shaped object 300 is set as the second irradiation range 120, and a portion corresponding to the second irradiation range 120 in the second image having the same size as the first image is drawn.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. is there.

  Although the application example which mounts the light irradiation apparatus 1 in a vehicle or a projector was shown in the above description, it is not limited to the said application example. For example, it can be applied to a surveillance camera. In this application example, when an object such as a person enters the irradiation range of the light irradiation device 1, an image of visible laser light is drawn on the object or its periphery.

  DESCRIPTION OF SYMBOLS 1 Light irradiation apparatus, 2 Irradiation range, 10 Laser light source part, Db Blue laser diode, Dg Green laser diode, Dr Red laser diode, Dir infrared laser diode, 11 Collimator lens, 12 Dichroic mirror, 13 Deflection mirror, 14 Condensing Lens, PD1 reference light detector, PD2 reflected light detector, AP1, AP2 amplifier, 21 distance measurement unit, 22 object recognition unit, 23 pattern holding unit, 24 irradiation control unit, 25 projection data holding unit, 26 projection data setting unit , 31 synchronous clock supply unit, 32 infrared light source driver, 33 visible light source driver, 34 scanning mirror driver, 100 scanning range, 110 first irradiation range, 120 second irradiation range, 300 specific shape object.

Claims (9)

A first light source that emits visible laser light;
A second light source that emits infrared laser light;
A scanning mirror unit that two-dimensionally scans the visible laser beam emitted from the first light source unit and the infrared laser beam emitted from the second light source unit;
A reflected light detection unit that detects reflected light of the infrared laser light irradiated through the scanning mirror unit;
An object recognition unit for recognizing an object located within an irradiation range of the infrared laser light based on the reflected light detected by the reflected light detection unit;
The second irradiation corresponding to the object recognized by the object recognition unit is controlled by irradiating the first irradiation range in the scanning range scanned by the scanning mirror unit with the visible laser light from the first light source unit. A light irradiation apparatus comprising: an irradiation control unit configured to control a range so that an image drawn in the second irradiation range is drawn by visible laser light from the first light source unit.   The irradiation control unit controls the first irradiation range to be irradiated with white laser light from the first light source unit, and the second irradiation range has a color tone different from that of the white laser light. The light irradiation apparatus according to claim 1, wherein the light irradiation apparatus is controlled so as to be irradiated.   The light irradiation apparatus according to claim 1, wherein the irradiation control unit sets a lower portion of the object recognized by the object recognition unit as the second irradiation range.   The light irradiation apparatus according to claim 1, wherein the irradiation control unit sets a periphery of the object recognized by the object recognition unit as the second irradiation range.   The said light irradiation apparatus is a headlight for vehicles, The light irradiation apparatus in any one of Claim 1 to 4 characterized by the above-mentioned.   The irradiation control unit controls the first irradiation range so that a first image based on the first image data is drawn by visible laser light from the first light source unit, and the second irradiation range 2. The light irradiation according to claim 1, wherein the second image based on the second image data different from the first image data is controlled to be drawn by the visible laser beam from the first light source unit. apparatus.   The light irradiation apparatus according to claim 1, wherein the irradiation control unit sets the shape of the object recognized by the object recognition unit as the second irradiation range.   The object recognition unit recognizes an object having a specific shape within the irradiation range of the infrared laser light, and the irradiation control unit sets the specific shape recognized by the object recognition unit as the second irradiation range. The light irradiation apparatus according to claim 1, wherein: Two-dimensional scanning with visible laser light and infrared laser light;
Detecting reflected light of the irradiated infrared laser beam;
Recognizing an object located within the irradiation range of the infrared laser light based on the detected reflected light;
Control is performed so that the visible laser beam is irradiated to the first irradiation range in the scanning range by two-dimensional scanning, and the second irradiation range is applied to the second irradiation range corresponding to the recognized object by the visible laser beam. And a step of controlling so that an image to be drawn is drawn.

Images