JP3029005B2 - Stereo vision camera - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic vision camera for multimedia or the like.

[0002]

2. Description of the Related Art Conventionally, a stereoscopic vision camera captures a video signal using two independent optical systems and converts it into a stereoscopic video signal. That is, an optical system of an imaging unit including a CCD or the like,
It is composed of an optical system of a distance measuring unit including a light receiving element such as a line sensor, and combines the respective signals to obtain a stereoscopic image signal.

FIG. 6 shows a configuration of a conventional example. Reference numeral 1 denotes an imaging unit including an imaging element 2 such as a CCD and an imaging lens 3, and reference numeral 4 denotes a distance measurement unit including a light receiving element 6 such as a line sensor and a distance measurement lens 7. 8 is an object to be photographed,
Reference numeral 9 denotes a synthesizer for synthesizing signals from the imaging unit 1 and the distance measurement unit 4. The image signal obtained by the imaging unit 1 and the distance signal obtained by the distance measurement unit 4 are synthesized by the synthesizer 9 to become a stereoscopic image signal.

Next, a method of measuring a distance will be described. FIG. 7 is a diagram showing the principle. The distance is measured by a so-called TCL phase detection method. In the figure, 6 is a light receiving element such as a line sensor, 7 is a lens for distance measurement, and 8 is an object to be photographed. A _{1 to} A ₃ are chips of the light receiving element of the A series, B _{1 to} B ₃ are chips of the light receiving elements of the B series, and are formed in pairs such as A ₁ and B ₁ and A ₂ and B _2. Light incident through the left and right sides of the lens 7 is incident on chips of the A series and B series, respectively. FIG.
As shown in (a), if the light is in focus, the light passing through both sides of the lens 7 forms an image on the center pair of chips (A ₂ , B ₂ ), and the output is as shown in FIG. If the focus is not focused as shown in FIG. 7 (b), the light passing through both sides of the lens 7 forms an image on a distant chip, and the output becomes like B. Therefore, if the position of the lens 7 at the time of focusing is known, the distance of the object 8 can be known.

[0005]

However, in the above conventional example, at least two independent optical systems (the image pickup unit 1) are provided.
The optical system of the distance measuring unit 4) and the apparatus become expensive, and the solid-state having complete X, Y, and Z vectors because the imaging unit 1 and the distance measuring unit 4 are far apart. There is a problem that it is difficult to create an image signal.

In view of the foregoing, the present invention makes it possible to perform imaging and distance measurement with one optical system, and obtain a three-dimensional image signal having inexpensive and complete vectors in the X, Y, and Z directions. The purpose is to provide a stereo vision camera.

[0007]

According to the present invention, there is provided a stereoscopic vision camera for outputting a stereoscopic image signal having vectors in the X, Y, and Z directions. A light emitting element, a first optical system that scans light from the light emitting element in the X direction, a second optical system that scans light from the light emitting element in the Y direction, and an object that emits light from the light emitting element. A lens device movable in the Z-direction and a device for bypassing light reflected from the object and returning to the light-emitting element side, and a photoelectric conversion element for receiving the bypassed light in an array. A light receiving element formed in parallel, and first and second light emitting elements respectively driving the first and second optical systems .
2 signals and output the lens device in the Z direction.
A controller that outputs a third signal sequentially driven to a position, and an image from the image sensor when an output of the light receiving element is obtained only from a predetermined photoelectric conversion element in X and Y scanning at each position in the Z direction. the data and stereoscopic image signals
And means for extracting Te.

[0008]

In the above arrangement, the first optical system rotates the light emitted from the light emitting element to scan in the X direction, and the second optical system rotates the light emitted from the light emitting element to rotate the light in the Y direction. The scanning is performed, and the lens is linearly driven in the Z direction to perform scanning in the Z direction. When the output of the light receiving element is obtained only from a predetermined photoelectric conversion element, image data is obtained by the imaging element, and based on the image data, To extract a stereoscopic image signal.

[0009]

An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of the stereoscopic vision camera of the present invention. An imaging unit 1 includes an imaging element 2 such as a CCD.
Reference numeral 4 'denotes a position detecting unit including a light emitting element 5 such as a laser diode and a light receiving element 6 such as a photodiode array. A, B, and C indicate photodiodes of the light receiving element 6. 10 is a lens, and 11a, 11b and 11c are prisms. As shown, the prism 11a is driven to rotate in the horizontal direction (ie, the X direction), and the prism 11b is driven.
Is configured to be driven to rotate in the vertical direction (that is, the Y direction). Further, the prism 11c has a function of branching outgoing light and incident light.

Reference numeral 14 denotes a driving unit of the moving magnet type linearly moving lens 10 in the Z direction. Reference numeral 13a denotes a driver of the driving unit 14, reference numeral 13b denotes a driver for driving the prism 11a to rotate in the horizontal direction, and reference numeral 13c denotes a driver for driving the prism 11b in the vertical direction. The driver is driven to rotate in the direction. Reference numeral 15 denotes a comparator which outputs an H level signal or an L level signal according to the output of the light receiving element 6. Reference numeral 12 denotes a controller for controlling each unit. Reference numeral 16 denotes a unit for extracting valid X and Y data from the two-dimensional image data of the image pickup unit 1 when the output of the comparator 15 is at the H level, and for extracting Z position data from the controller 12. A three-dimensional image extracting unit that extracts and outputs a three-dimensional image signal. Reference numeral 8 denotes an object to be photographed. The X, Y, and Z axes indicate each vector axis in the three-dimensional space.

Next, the operation will be described. In the position detecting section 4 ', the light emitting element 5 is always the prism 11c,
b, the laser beam is irradiated through the prism 11 a and the lens 10. The controller 12 supplies a drive unit 14 with a Z-direction drive signal based on a fixed scan signal via a driver 13a. The lens 10 is driven by the Z-direction drive signal, and a laser beam is always emitted in search of the subject in the Z-direction.

The controller 12 supplies an X-direction drive signal based on a fixed scan signal to the prism 11a via a driver 13b. The X-direction drive signal drives the prism 11a to rotate in the horizontal direction. As a result, the laser beam is scanned in the X direction. Similarly, the controller 12 gives a Y-direction drive signal based on a fixed scan signal to the prism 11b via the driver 13c. The prism 11b is rotated in the vertical direction by the Y-direction drive signal, and as a result, the laser beam is scanned in the Y-direction.

The emitted laser beam strikes the object 8 of the subject, is reflected, and is received by the light receiving element 6 via the lens 10, the prism 11a, the prism 11b, and the prism 11c. That is, if there is an output from only the photodiode B at the center of the light receiving element 6, the object 8 as a subject is located at a target position.
Will exist.

When only the photodiode B at the center of the light receiving element 6 has an output, the output of the comparator 15 is H
Level, and the two-dimensional image signal obtained by the imaging unit 1 from the three-dimensional image extraction unit 16 is converted into valid image data (X, Y
Data). At the same time, the Z-direction position data at that time is also output. In this manner, scanning is sequentially performed in the Z direction, and at each Z position, image data in the X and Y directions and position data in the Z direction are output as a stereoscopic image signal having complete vectors in the X, Y and Z directions. Because

Next, a method of measuring the distance in the Z direction will be described. FIG. 2 is a principle diagram when measuring the distance in the Z direction. FIG. 2A shows that when the object 8 is at the position of the distance L and the lens 10 is at the position of z, the reflected light of the laser beam is focused on the photodiode B at the center of the light receiving element 6.
At this time, the photodiode having an output is only the photodiode B at the center of the light receiving element 6. Next, FIG.
Is that when the object 8 is at the position of the distance L 'and the lens 10 is at the position of z, the focus is deviated and the reflected light of the laser beam is scattered and hits all the photodiodes A, B and C of the light receiving element 6. become. At this time, the photodiodes A, B, C
Output from all of.

Next, FIG. 2C shows that when the object 8 is at the position of the distance L 'and the lens 10 is moved to the position of z', the reflected light of the laser beam is again focused on the center of the light receiving element 6. To the photodiode B only. At this time, an output is generated only from the central photodiode B. Accordingly, the lens 10 is driven in the Z direction so that only the center photodiode B generates an output, and the distance of the object 8 can be known from the position z of the lens 10.

Next, a scanning method in the X and Y directions will be described. FIG. 3 is a diagram showing a state of scanning in the X direction. FIG. 3 shows a state in which the object 8 is always in focus,
That is, it is assumed that there is an output only at the photodiode B at the center of the light receiving element 6. FIG. 3A shows the prism 11.
When a is in the state as shown in the figure, the illuminated laser beam hits the position C of the object 8 and is reflected. FIG. 3B shows a state in which the irradiated laser beam hits the position of the object 8 of the subject and is reflected when the prism 11a is in the state as shown in the figure. Further, FIG. 3C shows a state in which the irradiated laser beam hits the position of the object 8 of the subject 8 and is reflected when the prism 11a is in the state shown in the figure. By rotating the prism 11a in the horizontal direction (that is, in the X direction) as described above, the object 8 is scanned from C to E. Although not shown, the object 8 is scanned in the vertical direction (ie, the Y direction) by similarly rotating the prism 11b in the vertical direction (ie, the Y direction).

Finally, FIGS. 4 and 5 show how the extracted three-dimensional image signal is deposited on a three-dimensional screen. FIG.
Represents an object system, and an object 8 as an object is sequentially scanned in the Z direction, and at each Z position, image data in the X and Y directions and position data in the Z direction form a complete vector in the X, Y and Z directions. This is output as a three-dimensional image signal having the image and is being photographed. FIG. 5 shows that the object 8 is sequentially scanned in the Z direction on the stereoscopic screen in synchronization with the subject system based on the obtained image data, and complete X,
This figure shows a state where the image is output as a stereoscopic image signal having vectors in the Y and Z directions and is projected. In the above embodiment, another optical system having an equivalent function may be used instead of the prisms 11a, 11b, and 11c.

[0019]

As described above, according to the present invention, X, Y,
A stereoscopic vision camera that outputs a stereoscopic image signal having a vector in the Z direction; an imaging element for photographing; a light emitting element for a light source; a first optical system that scans light from the light emitting element in the X direction; A second optical system that scans light from the light emitting element in the Y direction, a lens device that moves the light emitted from the light emitting element to the object and moves in the Z direction, and reflects from the object to the light emitting element side Means for bypassing the returning light, a light receiving element in which photoelectric conversion elements for receiving the bypassed light are arranged in parallel in an array, and the first and second optical systems
Output first and second signals for driving
A third signal for sequentially driving the lens device to each position in the Z direction;
A controller for outputting the item, at each position of the Z-direction
Means for extracting image data from the image sensor as a three-dimensional image signal when an output of the light receiving element is obtained only from a predetermined photoelectric conversion element in X and Y scanning. It is possible to provide a three-dimensional vision camera that can obtain a three-dimensional image signal at low cost and with complete vectors in the X, Y, and Z directions.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a stereoscopic vision camera of the present invention.

FIG. 2 is a principle diagram illustrating a method of measuring a distance in the Z direction by the stereoscopic vision camera of the present invention.

FIG. 3 is a diagram showing a state in which the stereoscopic vision camera of the present invention scans in the X direction.

FIG. 4 is a diagram showing a state in which an object is photographed.

FIG. 5 is a view showing a state where an object is projected on a three-dimensional screen.

FIG. 6 is a schematic configuration diagram of a conventional stereo vision camera.

FIG. 7 is a principle diagram for explaining a conventional distance measuring method.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 imaging unit 2 imaging device such as CCD 3 imaging unit lens 4 distance measurement unit 4 'position detection unit 5 light emitting element such as laser diode 6 light receiving element such as photodiode array 7 lens of distance measurement unit 8 object 9 combiner 10 Lens 11a, 11b, 11c Prism 12 Controller 13a, 13b, 13c Driver 14 Drive unit 15 Comparator 16 Stereoscopic image extraction unit

Claims (1)

(57) [Claims] 1. A stereo vision camera for outputting a stereoscopic image signal having vectors in X, Y, and Z directions, comprising: an imaging element for photographing; a light emitting element for a light source; and light from the light emitting element in the X direction. A first optical system that scans, a second optical system that scans light from the light emitting element in the Y direction, a lens device that applies light emitted from the light emitting element to an object and is movable in the Z direction, and the object Means for bypassing light reflected from the light-emitting element and returning to the light-emitting element side; a light-receiving element in which photoelectric conversion elements for receiving the bypassed light are arranged in parallel in an array; and the first and second optics First and second signals for driving the system respectively
Signal and output the lens device at each position in the Z direction.
And a controller for outputting a third signal sequentially driven in the X- and Y-directions, and image data from the image sensor when an output of the light-receiving element is obtained only from a predetermined photoelectric conversion element in X and Y scanning at each position in the Z direction. the stereo vision camera, characterized in that it consists, and means to extract <br/> as a stereoscopic image signal.