JP2003036704A - Lighting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To illuminate an area to be illuminated in appropriate manner with a lighting device which is mounted on the head of a user and emits illumination light. SOLUTION: The lighting device has a head mount part to wear the device on the head of the user is equipped with a light generator 31 and a light emitting part 12 to emit the light from the light generator 31. Illumination direction of light is changed by linear motors 123a and 123b. A camera 13 is attached to the light emitting part 12 to collect images of an object of illumination. Difference between the collected image and a reference image obtained in advance is calculated at a difference calculating part 24 of an illumination controlling part 20. A control signal generator 25 generates a control signal from the difference and controls linear motors 123a and 123b to perform appropriate illumination of the area to be illuminated regardless of the direction of the head of the user.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lighting device worn by a user.

[0002]

2. Description of the Related Art In medical surgery, so-called shadowless lamps having a large number of lamps incorporated therein have been conventionally used for illuminating a surgical site without causing a shadow. Since the surgical light is a large-scale lighting device, it is usually hung from the ceiling of the operating room. Therefore, the operating room has a dedicated structure to which such a heavy object can be attached and is further provided with a cooling system for removing the heat generated by the surgical light. As a result, enormous cost is required to provide an operating room. Moreover, since the operating light has a limited range in the direction of the illumination light, it is necessary to separately arrange an illumination device to illuminate the patient from the side.

On the other hand, in order to surely illuminate the surgical site while overcoming various problems of the operating light, there has been considered a technique of irradiating the surgical site with illumination light from the head of the operator. . For example, a technique is known in which light from a light source is transmitted using an optical fiber and is emitted from a head mount type emission unit attached to the operator's head.

[0004]

However, when illuminating the surgical site from the operator's head, the direction of the illumination light is restricted by the direction of the operator's head. There is a problem that the position of the illumination area changes only by moving to. As a result, it is necessary to have the assistant change the direction of the emitting portion attached to the surgeon's head, or to continue the surgery in an uncomfortable posture.

Incidentally, such a problem is not limited to medical treatment, and is a common problem of the illumination device worn by the user when performing fine work.

The present invention has been made in view of the above problems, and an object of the present invention is to appropriately illuminate an illumination target while suppressing the influence of the movement of the user when using an illumination device worn by the user. There is.

[0007]

According to a first aspect of the present invention, there is provided an illumination device worn by a user, wherein the image pickup means obtains data of a two-dimensional image by picking up an image of an illumination target. Illuminating means that emits illumination light toward an illumination target, illumination direction changing means that changes the direction of the illumination light, and a control signal to the illumination direction changing means based on image data acquired by the imaging means. Storage means for storing data of a reference image including a region to be illuminated on the illumination target, and a control means for providing the storage means.
A displacement amount calculation unit that determines a displacement amount between the reference image and the acquired image based on the reference image data and the image data acquired by the image capturing unit; Control signal generating means for generating a control signal for illuminating a region to be illuminated based on the shift amount.

According to a second aspect of the present invention, there is provided the illumination device according to the first aspect, wherein the control means controls the reference image,
The image processing apparatus further includes reference image expansion means for expanding the reference image based on the acquired image and the shift amount.

According to a third aspect of the invention, there is provided the illuminating device according to the first or second aspect, wherein the deviation amount calculating means is
The shift amount is obtained based on the edge image generated from the reference image and the edge image generated from the acquired image.

According to a fourth aspect of the invention, there is provided the illumination device according to any one of the first to third aspects, wherein the shift amount calculating means sets the upper and / or lower regions in the reference image to other areas. The deviation amount is obtained by referring to the degree higher than that of the area.

According to a fifth aspect of the present invention, in the illumination device according to any one of the first to fourth aspects, the shift amount calculating means shifts the shift between the reference image and the acquired image. The amount of deviation in the vertical direction, the amount of deviation in the horizontal direction,
Also, the amount of shift related to rotation is obtained.

The invention according to claim 6 is the illuminating device according to any one of claims 1 to 5, wherein the deviation amount calculating means determines whether or not the deviation amount can be obtained. When it is impossible to obtain the shift amount, the illumination light is directed in the reference direction.

The invention according to claim 7 is the illuminating device according to any one of claims 1 to 6, further comprising distance measuring means for measuring a distance between the area to be illuminated and the illuminating means. Further, the control means controls the illumination direction changing means while utilizing the distance measurement result of the distance measurement means.

According to an eighth aspect of the present invention, in the illumination device according to the seventh aspect, the illuminating means has a plurality of emitting portions for emitting a plurality of illumination lights, and the control means has the The orientations of the plurality of emission units are controlled while utilizing the distance measurement result by the distance measurement means.

The invention according to claim 9 is the illumination device according to any one of claims 1 to 8, wherein the illumination direction changing means includes an electromagnet, a magnetic body and an elastic member, and the electromagnet and the electromagnet. The direction of the illumination light is changed by deforming the elastic member according to a magnetic action generated between the elastic body and the magnetic body.

The invention according to claim 10 is the illuminating device according to any one of claims 1 to 9, further comprising recording means for recording data of a plurality of images acquired by the imaging means.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION <1. First embodiment> FIG.
FIG. 3 is a perspective view showing the head mount portion 10 of the lighting device according to the first embodiment of the present invention. Head mount 1
0 has a configuration in which an emission part 12 of illumination light and a camera 13 for acquiring a two-dimensional image are attached in front of a wearing band 11 worn on the head of a user. In the drawings referred to in the following description, the XYZ directions are appropriately entered.

The emitting section 12 is connected to a cable 14, and an optical fiber for transmitting light passes through the cable 14. The signal line 131 for the camera 13 is also introduced into the cable 14. The other end of the optical fiber in the cable 14 is connected to an illumination light generation device having a light source.

FIG. 2 is a sectional view showing the internal structure of the emitting portion 12. In FIG. 2, the housing 121 of the emitting unit 12 is
It is a cross-sectional view when the portion related to and the reflection plate 122 are cut. The cable 14 is 2 inside the housing 121.
It is divided into one control line 141 and an optical fiber 142, and the two control lines 141 are respectively connected to the linear motors 123a and 12a.
3b is connected. The end of the optical fiber 142 is the reflection plate 1
It is exposed to the inner surface side of 22.

A lens 124 for condensing light is fixed at a position in the reflecting plate 122 facing the tip of the optical fiber 142, and the reflecting plate 122 is attached to a rotating mechanism 125. The rotating mechanism 125 has a reflector 122 centered on an axis oriented in the X direction (horizontal direction) and an axis oriented in the Z direction (vertical direction).
It is a mechanism for rotating. With the above structure, the light from the optical fiber 142 is directly or reflected by the reflecting plate 122 and emitted from the lens 124 as illumination light, and the turning mechanism 125 can also change the direction of the illumination light.

FIG. 3 is a view showing the appearance of the emitting portion 12 viewed from the front. The rotating mechanism 125 is a concentric outer ring 1.
251 and the inner ring 1252, the reflector 122
Is attached to the inner ring 1252. Inner ring 1
A rotating shaft 1253 is attached to the upper and lower sides (± Z side) of the outer periphery of 252, and the inner ring 1252 is supported by the outer ring 1251 via the rotating shaft 1253. Outer ring 12
Rotating shafts 1254 are attached to the left and right (± X side) of the outer circumference of 51, and the outer ring 1251 is supported by the housing 121 via the rotating shafts 1254.

With this structure, the outer ring 125
1 is rotatable about a shaft 12A facing the X direction with respect to the housing 121, and an inner ring 1252 is a shaft 12B facing the Z direction with respect to the outer ring 1251 (however, the shaft 12B rotates together with the outer ring 1251). It is possible to rotate around.

The rotating mechanism 125 may not be made rotatable by a shaft-shaped member, but may be a ball-shaped member, for example. Alternatively, a resin member such as rubber, a thin metal plate, or an elastic member having a restoring force such as a spiral spring may be used as the member for rotating.

FIG. 4 is a view showing a state of the emitting portion 12 when the structure relating to the rotating mechanism 125 and the reflecting plate 122 is removed from FIG.

As shown in FIGS. 2 and 4, a linear motor 123a is attached to the upper part of the inner surface of the housing 121, and the drive shaft 1231a of the linear motor 123a abuts on the upper part of the outer ring 1251. On the other hand, a spring 1232a is provided in the lower portion of the inner surface of the housing 121, and one end of the spring 1232a has one end as shown in FIG.
1 is fixed to the inner surface, and the other end abuts the lower portion of the outer ring 1251. The spring 1232a is a compression coil spring, and the lower part of the outer ring 1251 is on the front side ((-Y) side).
Urge to.

As shown in FIG. 4, the housing 12
1, the linear motor 123b is arranged on the left side ((−X) side) and the spring 1232b is arranged on the right side ((+ X) side).
251 is attached. Plate-shaped portions (portions denoted by reference numerals 1261 and 1262 in FIG. 4) protruding to the (+ Y) side are provided at the left and right ends of the outer ring 1251, and the portion 1
The linear motor 123b is attached to 261 (see FIG. 2), and the spring 1232b is attached to the portion 1262.

Drive shaft 1231b of linear motor 123b
Contacts the left side portion ((−X) side) of the inner ring 1252. The spring 1232b has one end fixed to the portion 1262 and the other end on the right side ((+ X) side of the inner ring 1252).
Abut on the site. The spring 1232b is also a compression coil spring and is on the right side ((+ X) side of the inner ring 1252).
Is urged to the front side ((-Y) side).

With the structure described above, the drive shaft 123
When 1a moves to the front side ((−Y) side), the spring 123
When 2a is compressed and the direction of the illumination light emitted from the optical fiber 142 is tilted downward and the drive shaft 1231a is moved to the rear side ((+ Y) side), the spring 1232a is extended to expand the drive shaft 1231a and the outer ring. The contact with 1251 is maintained, and the direction of the illumination light is inclined upward.

Further, the drive shaft 1231b is moved forward ((-
When moved to the (Y) side), the spring 1232b is compressed and the direction of the illumination light moves toward the right side ((+ X) side, the left side when viewed from the user), and the drive shaft 1231b moves to the rear side (( When moved to the (+ Y) side), the spring 1232b extends and the direction of the illumination light moves toward the left side ((-X) side, the right side when viewed from the user).

FIG. 5 is a block diagram showing the overall configuration of the illuminating device 1, showing how the emitting section 12 and the illumination control section 20 are connected. The illumination control unit 20 is connected to an illumination light generation device 31 that generates illumination light and sends it to the optical fiber 142, and is further connected to an image recording device 32 that records an image as necessary.

The illumination control unit 20 has a reference image acquisition button 21 for acquiring a reference image, a reference image acquisition unit 22 and a memory 23, and the reference image acquisition unit 22 is a camera 13.
Connected to. The reference image is an image having a region to be illuminated in the center, and is an image used as a reference when controlling the illumination direction from the emission unit 12. When the user or the assistant operates the reference image acquisition button 21, the camera 13 captures an image of the illumination target at that moment, and the input image signal is stored in the memory 23 as the reference image data 231 by the reference image acquisition unit 22.

The illumination control unit 20 further includes a shift amount calculation unit 24 and a control signal generation unit 25, and the shift amount calculation unit 24.
Also, the image signal from the camera 13 is input. The shift amount calculation unit 24 periodically acquires the data of the image captured by the camera 13, and uses the reference image data 231 and the acquired image data to detect the gap between the image captured by the camera 13 and the reference image. Find the amount of deviation. The control signal generator 25
The two linear motors 123a, 123a based on the deviation amount
A control signal for controlling b is generated. Thereby, the direction of the illumination light is changed so that the illumination light is applied to the area to be illuminated. The control signal generator 25 also controls ON / OFF of the illumination light generator 31.

Further, the illumination control unit 20 has a reference image expansion unit 26, and the reference image expansion unit 26 has the reference image data 23.
Expand 1. A specific method of extending the reference image data 231 (that is, extending the reference image) will be described later.

An image signal from the camera 13 is input to the image recording device 32, and an image from the line of sight of the user is recorded.

Of the configuration of the illumination control section 20 shown in FIG. 5,
The reference image acquisition unit 22, the shift amount calculation unit 24, and the reference image expansion unit 26 are realized by a computer system in which a CPU performs arithmetic processing according to a program, but all or part of these configurations is constructed by a dedicated electric circuit. May be done.

FIG. 6 is a diagram showing a flow of operations of the illuminating device 1. In the lighting device 1, first, the reference image acquisition button 21
Is operated (step S1), and when the reference image acquisition button 21 is operated, the reference image acquisition unit 22 acquires the reference image as reference image data 231 and stores it in the memory 23 (step S1). S2). At this time, the linear motors 123a and 123b have been returned to the origin,
The illumination light is directed in the reference direction, and the illumination light is applied to the center of the region corresponding to the reference image. That is, the user operates the reference image acquisition button 21 while moving the head to illuminate the area to be illuminated, whereby the reference image in which the area to be illuminated is displayed in the center is obtained.

The reference direction may be changed by setting appropriately. Further, when the reference image data 231 is acquired, the reference image acquisition unit 22 performs a correction to reduce the brightness of the center of the reference image to generate an image that would be obtained when no illumination light is present. The reference image data 231 is stored in the memory 23.

After that, the shift amount calculating section 24 acquires the data of the image currently being photographed from the camera 13 (step S).
3). In the following description, the image acquired for controlling the direction of the illumination light after acquiring the reference image data 231 is referred to as “acquired image”, and the data of the acquired image is referred to as “acquired image data”.

If an illumination light irradiation area exists in the acquired image, a part of the acquired image becomes abnormally bright. Therefore, the shift amount calculating unit 24 estimates the irradiation area of the illumination light based on the distribution of lightness. The image data in which the brightness of the area is reduced is acquired as the acquired image data.

The shift amount calculating section 24 obtains the shift amount between these images based on the acquired image data and the reference image data 231 (step S4). 7 to 11 are diagrams for explaining the process of the shift amount calculation unit 24. The reference image 91 and the acquired image 92 in these diagrams are, for example, 40 × 40 pixels in order to reduce the calculation amount. Compressed.
An area indicated by reference numeral 90 in FIGS. 7 to 11 is an area intended to be illuminated by the user. Less than,
An example of the processing operation of the deviation amount calculation unit 24 will be described with reference to FIGS. 7 to 11.

First, as shown in FIG. 7, the shift amount calculation unit 2
4 is the acquired image 92 to the right of the reference image 91 by 5 pixels,
Shift by 5 pixels on top and overlap. Then, the degree of difference is obtained for the upper region 911 and the lower region 912 (portion hatched in FIG. 7) of the reference image 91 among the overlapping portions. As a result, when the degree of difference is small, it is possible to determine that the reference image 91 and the acquired image 92 are acquired with the state shown in FIG. 7 or a state close to FIG. If it is larger, the reference image 91 is displayed in a state different from that shown in FIG.
It is possible to determine that the acquired image 92 and the acquired image 92 have been acquired.

Since both hands of the user (or instruments held by both hands) normally exist on the left and right sides of the central portion of the reference image 91, the shift amount calculating section 24 uses the upper area 9
By calculating the dissimilarity only for 11 and the lower region 912, an appropriate dissimilarity is calculated.

Areas other than the upper area 911 and the lower area 912 of the reference image 91 may be used for calculating the dissimilarity after the weighting is reduced. That is, the shift amount calculating unit 24 obtains the degree of difference while emphasizing the upper region 911 and the lower region 912 of the reference image 91, whereby the appropriate degree of difference is calculated. Upper area 911
Alternatively, only the lower region 912 may be used for calculating the dissimilarity (or a weighting coefficient larger than those of other regions may be set and referred to at a high degree).

Two types of difference can be used. One type is obtained by dividing the cumulative value of pixel value differences by the number of pixels to be operated, and the other type is an edge image generated from the reference image 91 and an edge image generated from the acquired image 92. Is a value obtained by dividing the cumulative value of the difference in pixel value between and by the number of pixels to be calculated.

For example, when the reference image 91 is an image showing a small incision during medical surgery, a protective sheet or skin is projected on the peripheral edge of the reference image 91, and the inside and outside of the incision have different colors. There will be a big difference. In this case, an appropriate difference degree is obtained by simply obtaining the average of the difference between the pixel values (that is, colors) of the reference image 91 and the acquired image 92 as the difference degree.

On the other hand, when the incision is large and the entire reference image 91 has a similar color, an appropriate degree of difference can be obtained by detecting the edge in the incision. As described above, the reference image 91
It can be used properly according to the nature of.

When the dissimilarity is obtained in the arrangement shown in FIG. 7, the acquired image 92 is moved to the left by one pixel and the dissimilarity is obtained again. After that, the degree of difference is calculated by moving the acquired image 92 one pixel to the left, and as shown in FIG. 8, the acquired image 92 is 5 pixels to the left with respect to the reference image 91.
The dissimilarity is repeatedly obtained up to the state of being shifted by 5 pixels. Next, the degree of difference is obtained with the acquired image 92 shifted from the reference image 91 by 5 pixels to the right and 4 pixels above.

Thereafter, the acquired image 9 is compared with the reference image 91.
2 is gradually moved from right to left, and the difference degree is obtained. When the acquired image 92 reaches the left end, the acquired image 92 is moved down by one pixel and then gradually moved from right to left again. Is required.

Then, as shown in FIGS. 9 and 10, the degree of difference is obtained by gradually moving from the left to the right with the acquired image 92 displaced by 5 pixels downward with respect to the reference image 91. The dissimilarity of the individual is required. In this way, the dissimilarity is obtained a plurality of times with the acquired image 92 displaced from the reference image 91 in a plurality of ways.

Next, as shown in FIG. 11, the acquired image 92 is rotated with respect to the reference image 91, and the upper region 911 and the lower region 912 of the reference image 91 in the overlapped portion are rotated.
The degree of difference is required. Also in this case, the acquired image 9
In the same manner as the method described with reference to FIG. 7 to FIG.
The dissimilarity is obtained multiple times in a state in which is shifted in multiple ways.

The rotation of the acquired image 92 is performed clockwise and counterclockwise by 1 ° up to 5 °. Therefore,
(100 × 2 × 5 =) 1000 dissimilarities are obtained. As a result, a total of 1100 dissimilarities are acquired by the shift amount calculation unit 24.

The deviation calculating unit 24 acquires the minimum difference from the obtained differences and compares the minimum difference with a predetermined threshold value to determine whether the minimum difference is less than or equal to the threshold value. Confirm whether or not. If the minimum degree of difference is larger than the threshold value, it is determined that the reference image 91 and the acquired image 92 are unexpectedly misaligned, and the misregistration amount cannot be calculated in step S4 (step S5).

When it is determined that the deviation amount cannot be calculated, the fact is input from the deviation amount calculating unit 24 to the control signal generating unit 25, and the two linear motors 123a and 12a are used.
A control signal for instructing the return to the origin is given to 3b (step S6). As a result, when the user makes a large head movement, or immediately after the power is turned on, the reference image data 23
When 1 is not acquired yet, the illumination light is emitted straight from the head mount unit 10 to the front (that is, in the reference direction).

If the minimum dissimilarity is less than or equal to the threshold,
The positional relationship between the reference image 91 and the acquired image 92 when the minimum degree of difference is calculated is calculated as the displacement amount (step S4). For example, when the positional relationship between the reference image 91 and the acquired image 92 when the minimum degree of difference is obtained is as shown in FIG. 12, the central point 915 of the reference image 91 and the central point 925 of the acquired image 92. The distance dx in the left-right direction and the distance dy in the up-down direction with respect to and are obtained as the elements of the deviation amount. Further, the rotation angle dθ of the acquired image 92 is obtained as an element of the shift amount related to rotation.

When the shift amount is obtained, the reference image expanding section 26 is based on the reference image 91, the acquired image 92 and the shift amount.
The reference image data 231 is updated by (step S
7). Specifically, as shown in FIG. 13, the image of both regions (logical sum region) 951 of the reference image 91 and the acquired image 92 is set as a new reference image, and the extended reference image data is the reference image. The data 231 is stored in the memory 23. It should be noted that, as indicated by the hatched lines in FIG. 13, only the upper region and the lower region of the reference image are used in the calculation of the degree of difference after the reference image is expanded (or referred to at a higher degree than other regions). While being used).

After that, the shift amount is input to the control signal generator 25, and the control signal generator 25 generates a control signal for changing the direction of the illumination light based on the shift amount (step S).
8). Thereby, the two linear motors 123a, 12a
3b is driven based on the control signal, and the illumination light is emitted to the area intended for illumination by the user (that is, the area corresponding to the center of the reference image).

FIG. 14 is a diagram for explaining the arithmetic processing for generating the control signal. In order to illuminate the position of the central point 915 of the reference image 91 with illumination light, it is necessary to obtain a control signal for moving the illumination light irradiation area from the central point 925 of the acquired image 92 to the central point 915 of the reference image 91. There is.

When the linear motor 123a is driven due to the influence of the rotation angle dθ, the rotation angle dθ is higher than that in the vertical direction.
When the linear motor 123b is driven, the illumination area moves with a tilt angle of θ, and the illumination area moves with a tilt angle of dθ relative to the left-right direction. Therefore, as shown in FIG.
The movement amount ma by driving the linear motor 123a and the movement amount mb by driving the linear motor 123b are obtained using the distance dx and the distance dy while considering θ. Then, a control signal for moving the illumination area by the obtained movement amounts ma and mb is generated, and the illumination area is appropriately moved to the area corresponding to the center of the reference image 91 (that is, the area to be illuminated). In the above description, it is assumed that the illumination light is emitted vertically to the illumination target, but if the illumination light is emitted to the illumination target at a predetermined angle due to the user's habit, the rotation angle dθ The influence may be reflected in the control signal by another method.

When the linear motors 123a and 123b are driven, the process returns to step S1 to confirm whether or not the reference image acquisition button 21 has been operated. If not, the acquisition of the data of the acquired image 92 and the shift amount. Is calculated (steps S3 and S4), and when the shift amount is obtained, the reference image data 231 is updated and the linear motor 123 is updated.
a, 123b are controlled (steps S7, S
8).

The second and subsequent calculations of the shift amount are performed based on the expanded reference image. At this time, the range in which the acquired image 92 is relatively displaced (moved) with respect to the reference image is also expanded according to the size of the expanded reference image. As a result, it is possible to illuminate a desired region with the illumination light even if the orientation of the head changes to some extent.

That is, the reference image is gradually expanded by gradually moving the head, and the reference image is eventually larger than the image obtained from the camera 13 as shown by the broken line area 952 in FIG. Therefore, the followability of the illumination area with respect to changes in the orientation of the head is improved.

By the above operation, the reference image acquisition button 2
After the acquisition of the reference image data 231 by the operation No. 1, the illumination light continues to be emitted to the area to be illuminated unless the user largely changes the direction of the head. This eliminates the need for the user or an assistant assisting the user to operate the direction of the illumination light, and by mounting the head mount unit 10 according to the illumination device 1 during medical surgery or precise work, It is possible to continue to illuminate the area.

When the direction of the head changes so much that the shift amount cannot be obtained based on the reference image and the acquired image 92, it is determined that the shift amount cannot be obtained (step S5), and the control signal is output. The generation unit 25 generates a control signal for returning the two linear motors 123a and 123b to the origin (step S6). As a result, when the user turns to the area to be illuminated again, the illumination light is emitted from the emitting section 12.
The light is emitted directly in front of the user, which prevents the user from feeling a sense of discomfort in the illumination direction immediately after restarting the work.

If the amount of deviation cannot be obtained, a control signal may be output from the control signal generator 25 to the illumination light generator 31 so as to turn off the light.

When the user wants to change the position of the area to be illuminated, the user or an assistant operates the reference image acquisition button 21 to generate new reference image data 23.
1 is acquired (steps S1 and S2). For example,
By depressing the reference image acquisition button 21, the linear motors 123a and 123b are returned to the origin, and in that state, the head is directed to the area to be newly illuminated, and the finger is released from the reference image acquisition button 21, and at the same time, the reference image data 231 Acquisition is done. Thereby, even if the direction of the head is changed thereafter, the illumination light is emitted to a new area to be illuminated.

On the other hand, in the illuminating device 1, the image signal acquired by the camera 13 can be output to the image recording device 32, and it is possible to save the image from the line of sight of the user. As a result, for example, it is possible to obtain an image having a high utility value in medical surgery education, precise assembly work education, examination, and the like.

The illumination device 1 is mainly composed of the head mount section 10 and the illumination control section 20, and does not require large-scale equipment for detecting the posture of the user's head or eyeball. Therefore, the illumination device 1 can easily realize illumination of the area to be illuminated regardless of the movement of the user.

<2. Second Embodiment> FIG. 15 shows a second embodiment.
Head mount portion 10a of the lighting device according to the embodiment
3 is a perspective view showing the external appearance of FIG. Head mount 10a
Is a wearing band 11 having two emitting parts 42 for emitting illumination light.
The head mount unit 10 according to the first embodiment is largely different from the head mount unit 10 according to the first embodiment in that the light source and the camera are built in the emitting unit 42. A cable 44 is connected to the two emitting portions 42 and is guided to the back of the user.

FIG. 16 is a side view showing the internal structure of the emitting portion 42, and FIG. 17 is a front view of the emitting portion 42. In the front part of the housing 421 of the emitting part 42, a large number of white L
An LED panel 4252 in which the EDs 422 are arranged is arranged. The outer circumference of the LED panel 4252 is surrounded by a rectangular outer ring 4251.
The main part of the rotating mechanism 425 that changes the direction of the illumination light is configured by the frame of the ED panel 4252, and the outer ring 4251 and the LED panel 4252 respectively correspond to the outer ring 1251 and the inner ring 1252 in the first embodiment. Equivalent to.

As shown in FIG. 17, the outer ring 4251
A plate member 4233a is attached between the housing 421 and the left and right sides ((± X) side) of the LED panel 4252.
Plate members 4233b are attached to the upper and lower sides (on the (± Z) side) of the outer ring 4251 (in the figure, the plate members are hatched in parallel). Therefore, the plate member 423
The outer ring 4251 rotates about an axis oriented in the X direction when 3a is twisted, and the LED panel 4252 rotates in the Z direction when the plate member 4233b is twisted (however, this axis rotates together with the outer ring 4251). .) Rotate around.

As shown in FIGS. 16 and 17, a magnet 4232a, which is a magnetic material, is attached to the upper portion of the outer ring 4251, and the electromagnet 4231 faces the magnet 4232a.
a is attached to the housing 421. Therefore,
When the current is controlled so that the magnet 4232a and the electromagnet 4231a attract each other, the LED panel 4252 tilts so as to face upward, and the current is controlled so that the magnet 4232a and the electromagnet 4231a repel each other.
Leans downwards.

As shown in FIG. 17, the LED panel 425
The magnet 4232b is also arranged on the right side ((+ X) side) of the electromagnet 42 so as to face the magnet 4232b.
31b is attached to the housing 421. Therefore, when the magnet 4232b and the electromagnet 4231b attract each other or repel each other, the direction of the LED panel 4252 is swung left and right.

On the back surface of the LED panel 4252, FIG.
As shown in FIG. 17, the camera 13 is attached, and the camera 13 acquires an image through the central opening 426 of the LED panel 4252 shown in FIG. Therefore, in the head mount portion 10a, the position on the subject of the image captured by the camera 13 is also changed in accordance with the change in the emission direction of the illumination light.

FIG. 18 is a block diagram showing the configuration of the illuminating device 1 having the head mount portion 10a. In FIG. 18, the same components as those in the first embodiment are designated by the same reference numerals.

Inside the illumination control section 20a, two control units 51 are provided corresponding to the two emission sections 42.
The control unit 51 has the same configuration except that some of the functions of the reference image acquisition button 21 and the control signal generation unit 25 are removed from the illumination control unit 20 (see FIG. 5) according to the first embodiment. There is.

The processing in these control units 51 is similar to that of the first embodiment, and the reference image acquisition button 2
The reference image data is acquired from the camera 13 according to the operation 1 and the deviation amount is obtained by comparing the reference image data and the acquired image data. Then, a control signal is generated based on the amount of deviation, and the drive circuit 52 and the light emitting circuit 53.
Entered in. As a result, electromagnets 4231a and 4231
b is driven, and the orientation of the LED panel 4252 is controlled so that the illumination light illuminates a region corresponding to the center of the reference image. Further, the reference image data is expanded based on the acquired image data and the shift amount.

When the shift amount cannot be obtained, L
The ED panel 4252 is controlled so as to face the front, and the LED 422 is turned off as necessary. One camera 13
The output from is input to the image recording device 32, and the image from the viewpoint of the user is recorded.

Since the orientation of the camera 13 is also changed according to the orientation of the LED panel 4252 in the second embodiment, the extent of expansion of the reference image data is generally suppressed to be smaller than that in the first embodiment. To be

As described above, in the second embodiment, two emitting parts 42 are provided, but each emitting part 42 is individually controlled by the same method as in the first embodiment. Also,
In the second embodiment, since the emitting section 42 has the light source, it is not necessary to separately provide a device serving as a light source, and the illumination device 1 can be easily carried. Further, the emitting section 42
Since it has a plurality of, it is possible to reduce the shadow of the user's hand.

<3. Third Embodiment> FIG. 19 shows a third embodiment.
Head mount portion 10b of the lighting device according to the embodiment
FIG. In FIG. 19, the same components as those in the second embodiment are designated by the same reference numerals (also in FIG. 20). The head mount portion 10b is different from that of the second embodiment in that a distance measuring sensor 45 is added to the front of the mounting band 11 and a camera is not provided at one of the emitting portions 42a.

FIG. 20 is a block diagram showing the structure of the lighting apparatus 1 according to the third embodiment. As with the second embodiment, with respect to the emitting unit 42, the control unit 51, the drive circuit 52, and the light emitting circuit 53 are provided in the illumination control unit 20b.
Is provided. For the other emitting portion 42a, the light emitting circuit 53 is shared with the emitting portion 42, and the electromagnets 4231a and 4231 are provided.
A drive circuit 52a corresponding to 231b is provided.

The control signal input to the drive circuit 52 connected to the emission section 42 is also input to the additional signal generation section 54, whereby the drive circuit 52 connected to the emission section 42a.
converted to a control signal for a. The signal from the distance measuring sensor 45 is added to the additional signal generation unit 54 and the control unit 51.
Entered in.

In the third embodiment, as a general rule, the emitting section 42 is controlled in the same manner as in the second embodiment. That is, the illumination direction is controlled so that the desired area to be illuminated is illuminated based on the image from the camera 13 and the reference image.

However, in the first and second embodiments, the linear motor and the electromagnet are controlled on the assumption that the distance between the head mount portion and the illumination target is constant. In the mode, the orientation of the LED panel 4252 is controlled with high accuracy based on the distance between the head mount portion 10b and the illumination target measured by the distance measuring sensor 45. That is, the same deviation amount (distance dx, dy)
The larger the measured distance is, the larger the actual deviation is. Therefore, the larger the measured distance is, the larger the LED panel 42 is.
The orientation of 52 is controlled so as to change greatly.

The illumination direction of the other emitting portion 42a is determined by the direction in which the emitting portion 42 illuminates and the distance to the illumination target. This arithmetic processing is executed by the additional signal generation unit 54. As a result, the camera 13 and the control unit 5
Only by providing one, it is possible to emit the illumination light toward the area where the emitting section 42 and the emitting section 42a should be appropriately illuminated.

<4. Modifications> The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments, and various modifications are possible.

For example, the emitting portion for emitting the illumination light may be mounted on a part other than the user's head, and when mounted on the user's shoulder, chest, neck, etc., a shadow is formed by the user's head. It is possible to illuminate a fixed position while preventing such a situation. Even in this case, the image recording device 32 can record the image from the user.

The head mount is not limited to the one worn on the head, and may be worn like glasses. In addition,
Since disposable protective goggles are used in medical surgery, the head mount part may be disinfected and may be integrated with the protective goggles. Cover the head mount part with a protective sheet and then use the disposable protective goggles together. A head mount may be used.

The illumination light may be emitted using an optical fiber or something other than an LED. For example, an EL panel in which EL elements are arranged, a semiconductor laser, or the like may be used, and a halogen lamp may be directly attached. LE
D is not limited to white, and for example, by arranging LEDs that emit R, G, and B colors, it is possible to generate illumination light of various colors.

In the above embodiment, an example in which a linear motor or an electromagnet is used as the mechanism for changing the illumination direction has been described, but other actuators may be used as the actuator for changing the illumination direction, for example, a stepping motor. An ultrasonic motor or the like can also be used.

Although the illumination control unit is preferably realized by using a computer, it may be attached to the head mount unit by downsizing using a dedicated electric circuit.

In the above embodiment, the reference image and the acquired image are superposed, the degree of difference is obtained while changing the relative positions of these images, and the amount of deviation is obtained based on the degree of difference. Various other known methods can be used for calculating For example, various correlation calculation methods that indicate the degree of similarity between two images have been proposed, and the shift amount may be calculated based on the correlation calculated using these methods. As an even more advanced method, Tokuyohei 8-503088
The method described in the publication may be used. In this way, the shift amount may be obtained by an arbitrary method based on the reference image and the acquired image.

The reference image is not limited to an image having an area to be illuminated in the center, and any image including an area to be illuminated may be used.

Further, in the above embodiment, the reference image 91
Although it has been described that the deviation amount is obtained by referring to the upper area 911 and / or the lower area 912 of the above, the deviation amount may be obtained while referring to the upper portion and / or the lower portion of the acquired image 92 with a high degree. . Even with such a method, since the upper part and the lower part of the acquired image 92 are substantially overlapped with the upper part and the lower part of the reference image, respectively, it is possible to substantially refer to the upper part and / or the lower part of the reference image to a high degree. Will be equivalent.

In the second and third embodiments, 2
Although one emission part is provided, three or more emission parts may be provided. Of course, the same applies to the first embodiment.
In addition, only one emission unit may be controlled while using the distance measurement result from the distance measurement sensor, and two or more emission units may be controlled while using the distance measurement result from the distance measurement sensor. May be done. When the camera has two cameras 13 as in the second embodiment, it is possible to measure the distance using the images acquired by the two cameras 13.

In the distance measuring sensor 45, the distance measuring sensor 45
And the distance to the illumination target (that is, the distance between the head mount unit and the distance measuring sensor 45) are measured. However, since the distance measurement result is finally used for controlling the illumination direction, the distance measuring sensor 45 substantially determines. It can be said that the distance between the emitting portion (or the light source) and the illumination target is measured.

In the second and third embodiments described above, the direction of the illumination light is changed using the electromagnet, the magnet, and the plate member, but the magnet may be a magnetic material that is not magnetic. In this case, the direction of the illumination light is changed by using only the attractive force between the electromagnet and the electromagnet. That is, by changing the direction of the illumination light according to the magnetic action between the electromagnet and the magnetic body,
The lighting direction can be changed with a simple structure. Further, instead of the plate member, any elastic body such as rubber or spring may be used, and the deformation of the elastic body is not limited to the rotation deformation, but may be deformed like a cantilever.

In the above embodiment, the image viewed from the user is recorded in the image recording device 32. However, the image recording device 32 acquires not only so-called moving images but also still images at regular intervals. Good. That is, data of a plurality of images is recorded in the image recording device.

[0099]

According to the present invention, the area to be illuminated can be illuminated regardless of the direction of the illumination means.

According to the second aspect of the invention, the area to be illuminated can be illuminated more appropriately.

Further, according to the third aspect of the present invention, it is possible to appropriately illuminate even when the entire reference image has a similar color.

Further, according to the invention of claim 4, the shift amount can be appropriately obtained.

According to the fifth aspect of the invention, it is possible to perform the illumination in consideration of the amount of shift related to rotation.

Further, according to the invention of claim 6, it is possible to prevent the user from feeling uncomfortable in the illumination direction immediately after restarting the illumination of the area to be illuminated.

Further, according to the invention of claim 7, it is possible to illuminate accurately by utilizing the distance measurement result.

According to the invention of claim 8, the directions of the plurality of emitting portions can be accurately controlled.

In the ninth aspect of the invention, the direction of the illumination light can be changed with a simple structure.

In the tenth aspect of the invention, the image viewed from the user can be recorded.

[Brief description of drawings]

FIG. 1 is a perspective view showing a head mount portion of an illumination device according to a first embodiment.

FIG. 2 is a cross-sectional view showing an internal structure of an emitting portion.

FIG. 3 is a front view of an emission unit.

FIG. 4 is a diagram showing a state of an emitting portion when the configuration related to the rotating mechanism and the reflecting plate is removed from FIG.

FIG. 5 is a block diagram showing a configuration of a lighting device.

FIG. 6 is a diagram showing a flow of operations of the lighting device.

FIG. 7 is a diagram for explaining a process of a deviation amount calculation unit.

FIG. 8 is a diagram for explaining a process of a deviation amount calculation unit.

FIG. 9 is a diagram for explaining a process of a deviation amount calculation unit.

FIG. 10 is a diagram for explaining a process of a deviation amount calculation unit.

FIG. 11 is a diagram for explaining a process of a deviation amount calculation unit.

FIG. 12 is a diagram showing an example of a positional relationship between a reference image and an acquired image.

FIG. 13 is a diagram for explaining how a reference image is expanded.

FIG. 14 is a diagram for explaining a calculation process for generating a control signal.

FIG. 15 is a perspective view showing a head mount portion of an illumination device according to a second embodiment.

FIG. 16 is a diagram showing an internal structure of an emitting portion from a lateral side.

FIG. 17 is a front view of an emission unit.

FIG. 18 is a block diagram showing a configuration of a lighting device.

FIG. 19 is a perspective view showing a head mount portion of an illumination device according to a third embodiment.

FIG. 20 is a block diagram showing a configuration of a lighting device.

[Explanation of symbols]

1 Lighting device 12, 42, 42a Emitting part 13 cameras 20, 20a, 20b Lighting control unit 23 memory 24 Deviation amount calculator 25 Control signal generator 26 Reference image extension 32 image recording device 45 Distance sensor 91 Reference image 92 Acquisition image 122 reflector 125,425 rotation mechanism 142 optical fiber 231 reference image data 911 upper area 912 Lower area 4231a, 4231b Electromagnet 4232a, 4232b magnet 4233a, 4233b Plate member 4252 LED panel Steps S5 and S6

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) F21V 14/00 F21S 1/00 E // F21W 131: 205 1/02 G F21Y 101: 02 F21M 1/00 S

Claims (10)

[Claims] 1. An illuminating device worn by a user, comprising: an image capturing unit that captures two-dimensional image data by capturing an image of an illumination target; and an illumination unit that emits illumination light toward the illumination target. An illumination direction changing unit that changes the direction of the illumination light, and a control unit that gives a control signal to the illumination direction changing unit based on image data acquired by the image capturing unit,
And a storage unit that stores data of a reference image including a region to be illuminated on the illumination target, based on data of the reference image and data of an image acquired by the imaging unit. A deviation amount calculation means for obtaining a deviation amount between the reference image and the acquired image; and a control signal generation for generating a control signal for causing the illumination means to illuminate the area to be illuminated based on the deviation amount. A lighting device comprising: 2. The illumination device according to claim 1, wherein the control unit further includes a reference image expansion unit that expands the reference image based on the reference image, the acquired image, and the shift amount. A lighting device having. 3. The illumination device according to claim 1, wherein the shift amount calculating means is based on an edge image generated from the reference image and an edge image generated from the acquired image. The illuminating device is characterized in that the amount of deviation is obtained. 4. The illumination device according to claim 1, wherein the deviation amount calculation means includes an upper part and / or an upper part in the reference image.
Alternatively, the illuminating device is characterized in that the displacement amount is obtained by referring to a lower region with a higher degree than other regions. 5. The illumination device according to claim 1, wherein the shift amount calculating unit is a shift amount in a vertical direction as a shift amount between the reference image and the acquired image. An illuminating device, which obtains an amount, a lateral shift amount, and a rotational shift amount. 6. The illumination device according to claim 1, wherein the shift amount calculating unit determines whether or not the shift amount can be obtained, and obtains the shift amount. An illumination device, wherein the illumination light is directed in a reference direction when it is impossible. 7. The illumination device according to claim 1, further comprising a distance measuring unit that measures a distance between the area to be illuminated and the illumination unit, and the control unit. An illuminating device which controls the illumination direction changing means while utilizing the distance measurement result of the distance measuring means. 8. The illumination device according to claim 7, wherein the illumination unit has a plurality of emission units that emit a plurality of illumination lights, and the control unit has a distance measurement result by the distance measurement unit. An illuminating device, characterized in that the orientations of the plurality of emission parts are controlled while utilizing the. 9. The illumination device according to claim 1, wherein the illumination direction changing means has an electromagnet, a magnetic body and an elastic member, and is formed between the electromagnet and the magnetic body. An illumination device in which the direction of the illumination light is changed by deforming the elastic member according to a magnetic action. 10. The illumination device according to claim 1, further comprising a recording unit that records data of a plurality of images acquired by the image capturing unit.