JP2016065717A - Information acquisition device and object detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information acquisition device capable of smoothly acquiring distance information with respect to a target area with a simple configuration and easy arithmetic processing and to provide an object detection device including the information acquisition device.SOLUTION: An information acquisition device 2 includes a projection part 100 which projects light onto the target area, an imaging part 200 which images the target area by a CMOS image sensor 240, an imaging signal processing circuit 23 which acquires the luminance value of each pixel in the CMOS image sensor 240, and a distance acquisition part 21b which acquires the distance information with respect to each position on the target area corresponding to each pixel on the basis of the luminance value acquired by the imaging signal processing circuit 23.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an information acquisition device that acquires information in a target area and an object detection device that includes the information acquisition device.

  Conventionally, object detection devices using light have been developed in various fields. An object detection apparatus using a so-called distance image sensor can detect not only a planar image on a two-dimensional plane but also the shape and movement of the detection target object in the depth direction.

  As a distance image sensor, a distance image sensor of a type that irradiates a target region with laser light having a predetermined dot pattern is known (for example, Non-Patent Document 1). In such a distance image sensor, a dot pattern when the reference surface is irradiated with laser light is picked up by the image pickup device, and the picked-up dot pattern is held as a reference dot pattern. Then, the reference dot pattern is compared with the actually measured dot pattern captured at the time of actual measurement, and distance information is acquired. Specifically, distance information with respect to the reference region is acquired by a triangulation method based on the position of the reference region set on the standard dot pattern on the measured dot pattern.

19th Annual Conference of the Robotics Society of Japan (September 18-20, 2001) Proceedings, P1279-1280

  However, since the distance image sensor needs to generate light of a dot pattern, there is a problem that the configuration of a projection unit that projects light onto a target area becomes complicated. In addition, since it is necessary to search for dots included in the reference area on the measured dot pattern, there is a problem that complicated calculation processing is required for obtaining distance information.

  In view of the above problems, the present invention provides an information acquisition apparatus that can smoothly acquire distance information with respect to a target area with a simple configuration and simple arithmetic processing, and an object that exists in the target area with a simple configuration and simple arithmetic processing. It is an object of the present invention to provide an object detection device capable of detecting the above.

  A first aspect of the present invention relates to an information acquisition device. The information acquisition apparatus according to this aspect includes a projection unit that projects light onto a target area, an imaging unit that images the target area with an image sensor, a luminance acquisition unit that acquires a luminance value of each pixel in the image sensor, A distance acquisition unit that acquires distance information for each position on the target area corresponding to each pixel based on the luminance value acquired by the luminance acquisition unit.

  According to this aspect, it is possible to provide an information acquisition device that can smoothly acquire distance information with respect to the target region with a simple configuration and simple arithmetic processing.

  A 2nd aspect of this invention is related with an object detection apparatus. An object detection device according to this aspect includes an information acquisition device according to a first aspect, an object detection unit that detects an object present in the target region based on the distance information acquired by the information acquisition device, Is provided.

  A third aspect of the present invention relates to an object detection device. An object detection apparatus according to this aspect includes a projection unit that projects light in an infrared wavelength band onto a target region, a color image sensor, and a filter that cuts visible light and transmits light in the infrared wavelength band, An image capturing unit that captures a target area with the color image sensor, a luminance acquisition unit that acquires a luminance value of a predetermined pixel on the color image sensor, and the target based on the luminance value acquired by the luminance acquisition unit And an object detection unit for detecting an object existing in the region.

  According to this aspect, it is possible to provide an object detection device that can smoothly detect an object existing in the target region with a simple configuration and simple arithmetic processing.

  ADVANTAGE OF THE INVENTION According to this invention, the distance information with respect to a target area can be smoothly detected by the information acquisition apparatus which can acquire smoothly by simple structure and simple arithmetic processing, and the object which exists in a target area by simple structure and simple arithmetic processing An object detection apparatus can be provided.

  The effects and significance of the present invention will become more apparent from the following description of embodiments. However, the embodiment described below is merely an example when the present invention is implemented, and the present invention is not limited to the following embodiment.

It is a figure which shows the external appearance structure of the personal computer which incorporated the object detection apparatus which concerns on embodiment. It is a figure which shows the structure of the information acquisition apparatus and object detection apparatus which concern on embodiment. It is a figure which shows the structure of the projection part and imaging part which concern on embodiment. It is a figure which shows typically the projection state of the light with respect to the target area which concerns on embodiment, and the imaging state of a target area. It is a figure which shows the sensitivity of the image sensor which concerns on embodiment, and the waveform of the distance conversion function which prescribes | regulates the relationship between a luminance value and distance. It is a flowchart which shows the acquisition process and object detection process of distance information which concern on embodiment. The figure which shows the structure of the projection part which concerns on the example of a change, and the imaging part, The figure which shows the projection state of the light with respect to the target area | region which concerns on the said modification example, and the imaging state of a target area | region, The structure of the projection part which concerns on another modification example FIG. 6 is a diagram illustrating a configuration of an imaging unit according to still another modification. It is a flowchart which shows the brightness | luminance image generation process and object detection process which concern on the other example of a change. It is a figure which shows the structure of the object detection apparatus and information processing apparatus which concern on the other example of a change. It is a flowchart which shows the object detection process which concerns on the example of a change shown in FIG.

  Embodiments of the present invention will be described below with reference to the drawings.

  In this embodiment, the object detection apparatus according to the present invention is applied to a notebook personal computer. In addition, the object detection apparatus according to the present invention can be appropriately applied to other devices such as a desktop personal computer and a television. It should be noted that the information acquisition device and the object detection device according to the present invention do not necessarily have to be mounted integrally with other devices, and may constitute a single device alone.

In the embodiment described below, the imaging signal processing circuit 23 corresponds to a “luminance acquisition unit” recited in the claims. The distance conversion function shown in FIG. 5B corresponds to “regulation information” described in the claims. The distance information acquired by the distance acquisition unit 21b corresponds to “distance information” recited in the claims. The information acquisition device 2 described in the present embodiment is an example of the “information acquisition device” described in claim 1. A configuration including the information acquisition device 2 and the information processing unit 3 corresponds to the object detection device according to claim 12. However, the description of the correspondence between the above claims and the present embodiment is merely an example, and the invention according to the claims is not limited to the present embodiment.

  FIG. 1 is a diagram showing a schematic configuration of a personal computer 1 according to the present embodiment. As shown in FIG. 1, the personal computer 1 includes an information acquisition device 2 and an information processing unit 3. In addition, the personal computer 1 includes a keyboard 4, an operation pad 5, and a monitor 6.

  The information acquisition device 2 projects light (infrared light) in an infrared wavelength band longer than the visible light wavelength band over the entire target region, and receives the reflected light with a CMOS image sensor, thereby achieving the target. The distance to each part of the object existing in the region (hereinafter referred to as “distance information”) is acquired. Based on the distance information acquired by the information acquisition device 2, the information processing unit 3 detects a predetermined object existing in the target area, and further detects the movement of the object. Then, the information processing unit 3 controls the function of the personal computer 1 according to the movement of the object.

  For example, when the user performs a predetermined gesture using his / her hand, distance information corresponding to the gesture is transmitted from the information acquisition device 2 to the information processing unit 3. Based on this information, the information processing unit 3 detects the user's hand as a detection target object, and functions associated with the movement of the hand (screen enlargement / reduction, screen brightness adjustment, page turning, etc.) Execute.

  FIG. 2 is a diagram illustrating the configuration of the information acquisition device 2 and the information processing unit 3.

  The information acquisition device 2 includes a projection unit 100 and an imaging unit 200 as the configuration of the optical unit. The projection unit 100 and the imaging unit 200 are arranged so as to be aligned in the X-axis direction.

  The projection unit 100 includes a light source 110 that emits light in an infrared wavelength band.

The imaging unit 200 includes an aperture 210, an imaging lens 220, a filter 230, and a CMOS image sensor 240. In addition, the information acquisition device 2 includes a CPU (Central Processing Unit) 21, an infrared light source driving circuit 22, an imaging signal processing circuit 23, an input / output circuit 24, and a memory 25 as a circuit unit. Yes.

  The configuration in which the projection unit 100 includes the light source 110 that emits light in the infrared wavelength band and the imaging unit 200 includes the imaging lens 220 and the filter 230 is an example of the configuration according to claim 8. It is.

  The light projected from the light source 110 onto the target area is reflected by an object existing in the target area and enters the imaging lens 220 via the aperture 210.

  The aperture 210 limits light from the outside so as to match the F number of the imaging lens 220. The imaging lens 220 collects the light incident through the aperture 210 on the CMOS image sensor 240. The filter 230 is a bandpass filter that transmits light in the wavelength band including the emission wavelength of the light source 110 and cuts light in the visible wavelength band.

As will be described later, the CMOS image sensor 240 is a color image sensor having sensitivity to the wavelength band of visible light and the wavelength band of infrared light emitted from the light source 110. The CMOS image sensor 240 receives the light collected by the imaging lens 220 and outputs a signal corresponding to the amount of received light to the imaging signal processing circuit 23 for each pixel. Here, in the CMOS image sensor 240, the output speed of the signal is increased so that the signal of the pixel can be output to the imaging signal processing circuit 23 with high response from the light reception in each pixel.

  In the present embodiment, the effective imaging area of the CMOS image sensor 240 (area in which a signal is output as a sensor) is, for example, the size of VGA (640 horizontal pixels × 480 vertical pixels). The imaging effective area of the CMOS image sensor 240 may have other sizes such as an XGA (horizontal 1024 pixels × vertical 768 pixels) size or an SXGA (horizontal 1280 pixels × vertical 1024 pixels) size.

  The CPU 21 controls each unit according to a control program stored in the memory 25. With this control program, the functions of the light source control unit 21a and the distance acquisition unit 21b are given to the CPU 21.

  The light source control unit 21 a controls the infrared light source driving circuit 22. The distance acquisition unit 21b acquires distance information as described later based on a signal output from the CMOS image sensor 240.

  The infrared light source driving circuit 22 drives the light source 110 according to a control signal from the CPU 21.

  The imaging signal processing circuit 23 drives the CMOS image sensor 240 under the control of the CPU 21, acquires the luminance signal of each pixel from the signal output from the CMOS image sensor 240, and outputs the acquired luminance signal to the CPU 21. To do. As will be described later, the imaging signal processing circuit 23 applies the exposure time set by the CPU 21 to each pixel of the CMOS image sensor 240, and further sets the CPU 21 for the signal output from the CMOS image sensor 240. A gain signal is applied to obtain a luminance signal for each pixel.

  Based on the luminance signal supplied from the imaging signal processing circuit 23, the CPU 21 calculates the distance from the information acquisition device 2 to each part of the detection target object through processing by the distance acquisition unit 21b. The distance information is acquired for each pixel of the CMOS image sensor 240. The distance information acquisition process will be described later with reference to FIG.

  The input / output circuit 24 controls data communication with the information processing unit 3.

  In addition to the control program executed by the CPU 21, the memory 25 holds a distance conversion function used for acquiring distance information. In addition, the memory 25 is also used as a work area during processing in the CPU 21. The distance conversion function will be described later with reference to FIG.

  The information processing unit 3 includes a CPU 31, an input / output circuit 32, and a memory 33. In addition to the configuration shown in FIG. 2, the information processing unit 3 is provided with a configuration for driving and controlling each unit of the personal computer 1. For convenience, the configuration of these peripheral circuits is not shown.

  The CPU 31 controls each unit according to a control program stored in the memory 33. With this control program, the function of the function detection unit 31b for controlling the function of the personal computer 1 is given to the CPU 31 in accordance with the function of the object detection unit 31a and the signal from the object detection unit 31a.

  The object detection unit 31a extracts the shape of the object from the distance information acquired by the distance acquisition unit 21b, and further detects the movement of the extracted object shape. The function control unit 31b determines whether the movement of the object detected by the object detection unit 31a matches a predetermined movement pattern. If the movement of the object matches the predetermined movement pattern, the movement pattern The control corresponding to is executed.

  3A to 3C are diagrams illustrating configurations of the projection unit 100 and the imaging unit 200. FIG. 3A is a diagram illustrating a configuration of the light source 110, and FIG. 3B is a plan view illustrating the projection unit 100 and the imaging unit 200 in a state of being installed on the circuit board 300. FIG. These are AA 'sectional views of Drawing 3 (b).

As shown in FIG. 3A, in the present embodiment, the light source 110 is a light emitting diode (L
ED: Light Emitting Diode). A light emitting element (not shown) that emits infrared light is accommodated in the housing 110a. Infrared light emitted from the light emitting element is emitted to the outside at a predetermined radiation angle from the emission portion 110b on the upper surface. As shown in FIGS. 3B and 3C, the light source 110 is mounted on the circuit board 300.

  Note that the configuration in which the light source 110 is made of LEDs is an example of the configuration according to claim 9.

  3B and 3C, the imaging unit 200 includes a lens barrel 250 and an imaging lens holder 260 in addition to the aperture 210, the imaging lens 220, the filter 230, and the CMOS image sensor 240 described above. Yes. The CMOS image sensor 240 is mounted on the circuit board 300. The imaging lens 220 is attached to the lens barrel 250, and the lens barrel 250 is attached to the imaging lens holder 260 while holding the imaging lens 220. The imaging lens holder 260 has a recess on the lower surface, and the filter 230 is attached to the recess. In this way, the imaging lens holder 260 is installed on the circuit board 300 so as to cover the CMOS image sensor 240 while holding the imaging lens 220 and the filter 230.

  In the present embodiment, the imaging lens 220 is composed of four lenses. However, the number of lenses constituting the imaging lens 220 is not limited to this, and the imaging lens 220 may be configured from other numbers of lenses.

  In addition to the projection unit 100 and the imaging unit 200, the circuit unit 400 constituting the information acquisition device 2 is mounted on the circuit board 300. The CPU 21, the infrared light source driving circuit 22, the imaging signal processing circuit 23, the input / output circuit 24 and the memory 25 shown in FIG. 2 are included in the circuit unit 400.

  FIG. 4A is a diagram schematically illustrating a projection state of infrared light on the target region and an imaging state of the target region by the imaging unit 200.

  In the lower part of FIG. 4A, the projection state of infrared light by the projection unit 100 and the imaging state of the target area by the imaging unit 200 are shown. In addition, the upper part of FIG. 4A schematically shows the projection range of the infrared light in the target area and the imaging range of the imaging unit 200 with respect to the target area. Further, an area corresponding to the effective imaging area of the CMOS image sensor 240 is shown in the upper part of FIG. In FIG. 4A, ΔL indicates a distance acquisition range by the information acquisition device 2, and Lmax and Lmin indicate a maximum distance and a minimum distance that can be acquired by the information acquisition device 2, respectively. In the upper part of FIG. 4A, the projection range, the imaging range, and the imaging effective area when the target area is at the position of the maximum distance Lmax are shown.

  As shown in FIG. 4A, the imaging range and the projection range overlap each other in the target area, and the imaging effective area is positioned in a range where the imaging range and the projection range overlap. In order to image the target area with the CMOS image sensor 240, an area corresponding to the effective imaging area of the CMOS image sensor 240 needs to be included in the projection range. On the other hand, as the distance becomes shorter, the projection range becomes narrower and eventually the projection range does not cover the area corresponding to the imaging effective area. Therefore, the minimum distance Lmin needs to be set to be longer than at least the minimum limit distance that the projection range can cover the entire imaging effective area.

  On the other hand, the maximum distance Lmax is set assuming a distance range in which a detection target object such as a hand can exist. If the maximum distance Lmax is too long, the background of the detection target object is reflected in the captured image, which may reduce the detection accuracy of the detection target object. Therefore, the maximum distance Lmax is set assuming a distance range in which a detection target object such as a hand can exist so that the background of the detection target object does not appear in the captured image.

  When the LED shown in FIG. 3A is used as the light source 110, as shown in the lower diagram of FIG. 4A, infrared light is emitted from the projection unit 100 so as to spread substantially uniformly. For this reason, as shown to the upper figure of Fig.4 (a), the range which does not cover an imaging range and an imaging effective area becomes large among projection ranges, and the utilization efficiency of infrared light will become low.

  This problem is solved by directing the infrared light emitted from the projection unit 100 so that the infrared light gathers in the vicinity of the imaging range in the target region, as shown in FIG. Such a configuration can be realized by using the LED 111 shown in FIG.

  With reference to FIG.3 (d), LED111 is provided with the base 111a and the housing 111b. A light emitting element (not shown) that emits infrared light is molded in a light transmitting housing 111b. The upper surface of the housing 111b is a lens surface 111c, and the directivity of infrared light emitted from the upper surface to the outside is adjusted by the lens surface 111c. As shown in FIG. 4B, the lens surface 111c is adjusted so that infrared light gathers in the vicinity of the imaging range in the target area. Thereby, the light quantity of the infrared light which is not guided to the imaging effective area is reduced, and the utilization efficiency of the infrared light is increased.

  FIG. 5A is a diagram schematically illustrating the sensitivity of each pixel on the CMOS image sensor 240.

  In the present embodiment, a color sensor is used as the CMOS image sensor 240. Therefore, the CMOS image sensor 240 includes three types of pixels that detect red, green, and blue, respectively.

  In FIG. 5A, R, G, and B indicate the sensitivity of red, green, and blue pixels included in the CMOS image sensor 240, respectively. As shown in FIG. 5A, the sensitivity of the red, green, and blue pixels is substantially the same in the infrared wavelength band of 800 nm or more (the hatched portion in FIG. 5A is shown). reference). Therefore, when the wavelength band of visible light is removed by the filter 230 shown in FIG. 3C, the sensitivities of the red, green, and blue pixels of the CMOS image sensor 240 are substantially equal to each other. For this reason, when the same amount of infrared light is incident on the red, green, and blue pixels, the values of the signals output from the pixels of the respective colors are substantially equal. Therefore, there is no need to adjust the signal from each pixel between the pixels, and the signal from each pixel can be used as it is for obtaining distance information.

  FIG. 5B is a diagram schematically showing the waveform of the distance conversion function held in the memory 25. For convenience, FIG. 5B shows the maximum distance Lmax and the minimum distance Lmin shown in FIGS. 4A and 4B, and the distance acquisition range ΔL.

  As shown in FIG. 5B, the distance conversion function defines the relationship between the luminance value acquired via the CMOS image sensor 240 and the distance corresponding to the luminance value. In general, the amount of light traveling straight is attenuated in inverse proportion to the square of the distance. Accordingly, the infrared light emitted from the projection unit 100 is attenuated to one-quarter of the distance obtained by adding the distance from the projection unit 100 to the target area and the distance from the target area to the imaging unit 200. The light is received by the imaging unit 200. Therefore, as shown in FIG. 5B, the luminance value acquired via the CMOS image sensor 240 decreases as the distance to the object increases, and increases as the distance to the object decreases. Therefore, the distance conversion function that defines the relationship between the distance and the luminance has a curved waveform as shown in FIG.

  In the information acquisition device 2, the exposure time of the CMOS image sensor 240 is adjusted so that the relationship between the distance and the luminance value substantially matches the distance conversion function, and at the same time, the gain applied to the acquisition of the luminance value is adjusted. The In the example shown in FIG. 5B, the minimum distance Lmin is set to 30 cm, and the maximum distance Lmax is set to 80 cm. The luminance value is acquired with 256 gradations.

  In this case, the luminance value when the object exists at the minimum distance Lmin is about 230, the luminance value when the object exists at the maximum distance Lmax is about 50, and the position of another distance within the distance acquisition range ΔL. The exposure time of the CMOS image sensor 240 is adjusted so that the luminance value when an object is present substantially matches the waveform of the distance conversion function in FIG. 5B, and at the same time, it is applied to the acquisition of the luminance value. The gain is adjusted. More specifically, in a state where infrared light is emitted from the projection unit 100 with a predetermined power, the reference surface (screen) is moved from the position of the minimum distance Lmin to the position of the maximum distance Lmax, and sequentially the luminance value (gradation) ) To get. At this time, the exposure time of the CMOS image sensor 240 is adjusted so that each acquired luminance value substantially matches the waveform of FIG. 5B, and at the same time, the gain applied to the acquisition of the luminance value is adjusted. The

  If the relationship between the brightness value and the distance can be substantially matched to the distance conversion function shown in FIG. 5B by adjusting only the exposure time of the exposure time and gain, only the adjustment of the exposure time is possible. Should be done. Alternatively, when it is possible to substantially match the relationship between the luminance value and the distance with the distance conversion function shown in FIG. 5B only by adjusting the gain, it is only necessary to adjust the gain. Further, parameters other than the exposure time and gain may be adjusted.

  Such adjustment is performed when the information acquisition apparatus 2 is manufactured. The adjusted exposure time and gain are stored in the memory 25 and used when acquiring distance information.

  The configuration for adjusting the parameters (exposure time, gain) for acquiring the luminance value so that the luminance value corresponding to the distance acquisition range ΔL is obtained from each pixel in this way is described in claim 4. It is an example of a structure. A configuration in which the parameters to be adjusted are the exposure time and the gain is an example of the configuration according to claims 5 and 6.

  FIG. 6A is a flowchart illustrating distance information acquisition processing. The process of FIG. 6A is executed by the function of the distance acquisition unit 21b among the functions of the CPU 21 shown in FIG.

When the distance information acquisition timing arrives (S101: YES), the CPU 21 reads the exposure time and gain set as described above from the memory 25 and sets them in the imaging signal processing circuit 23. Thereby, the imaging signal processing circuit 23 acquires a captured image from the CMOS image sensor 240 with the set exposure time and gain (S102), and acquires a luminance value for each pixel from the acquired captured image (S103). . The acquired luminance value is transmitted to the CPU 21. The CPU 21 holds the luminance value of each pixel received from the imaging signal processing circuit 23 in the memory 25, and further compares the luminance value of each pixel with a predetermined threshold value Bsh. Then, the CPU 21 sets an error for a pixel whose luminance value is less than the threshold value Bsh (S104).

  In S104, the process of setting an error for a pixel whose luminance value is less than the threshold value Bsh is an example of a configuration according to claim 7.

  Subsequently, the CPU 21 converts a luminance value equal to or higher than the threshold Bsh into a distance by a calculation based on a distance conversion function held in the memory 25 (S105), and converts the distance acquired by the conversion into a corresponding pixel. The distance image is generated by setting (S106). At this time, the CPU 21 sets a value (for example, 0) indicating an error to the pixel in which an error has occurred in S104.

  In S105, the process of converting the luminance value into the distance by the calculation based on the distance conversion function held in the memory 25 is an example of a configuration according to claim 3.

  After the distance image is generated in this way, the CPU 21 determines whether or not the distance information acquisition operation has ended (S107). If the distance information acquisition operation is not completed (S107: NO), the CPU 21 returns the process to S101 and waits for the next distance information acquisition timing.

  Note that the threshold value Bsh in S104 is set to a luminance value corresponding to the maximum distance Lmax in the distance conversion function shown in FIG. 5B, for example. Thereby, the luminance value based on the infrared light reflected from the object farther than the maximum distance Lmax is excluded from the distance information acquisition target. For this reason, it is suppressed that the detection accuracy of a detection target object falls because the object in the background of a detection target object reflects in a captured image.

  FIG. 6B is a flowchart showing the object detection process. 6B is executed by the function of the object detection unit 31a among the functions of the CPU 31 shown in FIG.

  When the distance image is acquired in S106 of FIG. 6A (S201: YES), the CPU 31 determines from the distance value of the highest gradation in the distance image (the distance value that represents the closest approach to the information acquisition device 2). A value obtained by subtracting the value ΔD is set as the distance threshold value Dsh (S202).

  Next, the CPU 31 classifies an area having a distance value (gradation value) higher than the distance threshold value Dsh as a target area on the distance image (S203). Then, the CPU 31 executes the contour extraction engine, compares the contour of the divided target area with the object shape extraction template held in the memory 25, and compares the contour corresponding to the contour held in the object shape extraction template. The target region is extracted as a region corresponding to the detection target object (S204). In addition, when a detection target object is not extracted in S204, extraction of the detection target object with respect to the distance image is an error.

  Thus, when the extraction process of the detection target object is finished, the CPU 31 determines whether or not the object detection operation is finished (S205). If the object detection operation has not ended (S205: NO), the CPU 31 returns to S201 and waits for the next distance image to be acquired. And if the next distance image is acquired (S201: YES), CPU21 will perform the process after S202 and will extract a detection target object from the said distance image (S202-S204).

<Effect of Embodiment>
As described above, according to the present embodiment, it is not necessary to convert the light projected onto the target area into a dot pattern, so that the configuration of the projection unit 100 can be simplified. Further, since the distance information of each pixel is acquired based on the luminance value, the distance information can be acquired by a simple calculation process.

  Further, since the exposure time and gain of the CMOS image sensor 240 are set so that a luminance value corresponding to the distance acquisition range ΔL can be obtained from each pixel, it is reflected from an object farther than the maximum distance Lmax and enters the pixel. The brightness of the infrared light is smaller than the threshold value Bsh in S104 of FIG. 6A and is excluded from the distance information acquisition target. Thereby, it can suppress that the detection accuracy of a detection target object falls because the image of the object farther than the distance acquisition range ΔL is reflected in the captured image.

<Example of change>
While the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made to the configuration example of the present invention.

  For example, in the above-described embodiment, an LED is used as the light source 110, but a semiconductor laser may be used as the light source 110 instead of the LED.

  FIGS. 7A and 7B are diagrams illustrating a configuration example of the projection unit 100 and the imaging unit 200 when a semiconductor laser is used as the light source 110. 7A is a plan view showing the projection unit 100 and the imaging unit 200 in a state of being installed on the circuit board 300, and FIG. 7B is a cross-sectional view taken along the line AA ′ of FIG. is there. 7A and 7B, the same members as those in FIGS. 3B and 3C are denoted by the same reference numerals. The configuration of the imaging unit 200 in this change is the same as the configuration of the imaging unit 200 of the embodiment shown in FIGS. 3B and 3C.

  In this modification, a light source 112 made of a semiconductor laser, a concave lens 120, and a lens holder 130 are arranged. The light source 112 is a CAN type semiconductor laser, and emits laser light in an infrared wavelength band. The light source 112 is mounted on the circuit board 300. The concave lens 120 is held by the lens holder 130. A lens holder 130 holding the concave lens 120 is installed on the circuit board 300 so as to cover the light source 112. The concave lens 120 directs the laser light so that the laser light emitted from the light source 112 gathers in the vicinity of the imaging range in the target area as shown in FIG.

  The configuration in which the light source 110 is made of a semiconductor laser and the laser light emitted from the light source 110 is projected onto the target area by the concave lens 120 is an example of the configuration according to claim 10.

  Also in this modified example, since the light projected on the target area does not need to be a dot pattern as in the above embodiment, the configuration of the projection unit 100 can be simplified.

  7A and 7B, the lens holder 130 that holds the concave lens 120 is used. However, as shown in FIG. 7D, the emission surface of the CAN of the semiconductor laser that is the light source 112 is used. The concave lens 140 may be attached to the concave lens 140, and the concave lens 140 and the light source 112 may be integrated. In this way, the lens holder 130 can be omitted, and the configuration of the projection unit 100 can be further simplified.

In the above embodiment, the filter 230 is used to remove light in the visible wavelength band. However, as the material of the imaging lens 220, a material that absorbs light in the visible wavelength band is used. A filter function may be added to 220.

  FIG. 7E is a diagram illustrating a configuration example of the imaging unit 200 in this case.

  In this configuration example, the imaging lens 221 is formed from a material in which a dye is mixed with a resin material. As a dye, the absorption of light in the visible wavelength band is high, and the absorption of light in the infrared wavelength band is high. The one with low is used. Here, the dye is mixed in the material of the imaging lens 221, but any material other than the dye can be used as long as it absorbs light in the visible wavelength band and has low absorption in the infrared wavelength band. Ingredients may be mixed. Further, when the imaging lens 221 is formed from four lenses as shown in FIG. 7E, it is not always necessary to mix the dye into all the lenses, and if visible light can be removed appropriately. Dye may be mixed into one, two or three lenses.

  According to this configuration example, since the filter 230 can be omitted, the configuration of the imaging unit 200 can be further simplified, and the height of the imaging unit 200 can be reduced.

  In addition, the configuration in which the imaging lens 221 is formed of a material obtained by mixing a resin material with a dye having high absorption of light in the visible wavelength band and low absorption of light in the infrared wavelength band is as follows. It is an example of the structure of Claim 11.

  In the above embodiment, the luminance value is converted into the distance by the calculation using the distance conversion function. However, a table in which the luminance value and the distance are associated with each other is stored in the memory 25, and based on this table. The distance may be acquired from the luminance value. In the process of FIG. 6A, the distance is acquired in S105. However, the acquired distance may not be a distance value, and may be information that can represent the distance.

  In the above embodiment, the distance value is acquired by converting the luminance value into the distance based on the distance conversion function. However, the luminance value may be acquired as it is as information about the distance.

  FIG. 8A is a flowchart showing a luminance image generation process in the case where the luminance value is directly acquired as information on the distance.

  In the flowchart of FIG. 8A, S105 of FIG. 6A is omitted, and S106 of FIG. 6A is changed to S111. That is, in the flowchart of FIG. 8A, the luminance value is set to the corresponding pixel without generating the luminance value of each pixel into a distance value (S111). Similar to the above-described embodiment, a value indicating an error (for example, 0) is set to the pixel for which an error is set in S104.

  Note that, in this way, the configuration for acquiring the luminance value as the information regarding the distance is an example of the configuration according to claim 2.

  FIG. 8B is a flowchart showing the object detection process. In the flowchart of FIG. 8B, a luminance image is referred to instead of the distance image.

  That is, when the luminance image is acquired in S111 of FIG. 8A (S211: YES), the CPU 31 determines the luminance value of the highest gradation in the luminance image (the luminance value indicating the closest approach to the information acquisition device 2). A value obtained by subtracting a predetermined value ΔB from is set as the luminance threshold Bsh2 (S212).

Next, the CPU 31 classifies a region having a luminance value (gradation value) higher than the luminance threshold Bsh2 as a target region on the luminance image (S213). Then, the CPU 31 executes the contour extraction engine, compares the contour of the divided target area with the object shape extraction template held in the memory 25, and compares the contour corresponding to the contour held in the object shape extraction template. The target region is extracted as a region corresponding to the detection target object (S214). If the detection target object is not extracted in S214, the extraction of the detection target object from the distance image is an error. The CPU 31 repeats the processes of S211 to S214 until the object detection operation ends (S215).

  In the flowchart of FIG. 8A, since the luminance value is not converted to the distance based on the distance conversion function, the luminance value of each pixel on the luminance image does not represent an accurate distance. That is, as shown in FIG. 5B, since the luminance and the distance have a relationship represented by a curved graph, the luminance value is adjusted according to this curve in order to obtain the luminance value as an accurate distance. There is a need. In the flowchart of FIG. 8A, since the acquired luminance value is set as it is in the luminance image, the luminance value of each pixel on the luminance image does not represent an accurate distance and includes an error.

  However, in this case as well, the luminance value of each pixel represents a rough distance, so it is possible to detect the detection target object using the luminance image. Therefore, also according to this modification, the detection target object can be detected by the flowchart of FIG.

  In the flowchart of FIG. 8A, the luminance value acquired in S103 is set as a luminance image as it is in S111. However, the value set in the luminance image may not be a luminance value, Any information that can be expressed may be used.

<Other changes>
In the above embodiment, the object detection device is configured by the information acquisition device 2 and the object detection unit 31a on the information processing device 3 side, but both the function of the information acquisition device 2 and the function of the object detection unit 31a are combined into one device. May be arranged. Moreover, in the said embodiment, although the luminance value was converted into distance, object detection may be performed based on a luminance value, without converting a luminance value into distance.

  FIG. 9 is a diagram showing a configuration example in this case. In the configuration example of FIG. 9, the information acquisition device 2 of FIG. 2 is replaced with an object detection device 7. For convenience of explanation, the same reference numerals in FIG. 9 denote the same parts as in FIG.

  The object detection device 7 shown in FIG. 9 is an example of the “object detection device” according to the thirteenth aspect. Further, the luminance information acquisition unit 21c and the imaging signal processing circuit 23 illustrated in FIG. 9 correspond to the “luminance acquisition unit” according to claim 13, and the object detection unit 21d includes the “object detection unit” according to claim 13. Is equivalent to.

  In the configuration example of FIG. 9, the function of the object detection unit 31 a is removed from the CPU 31, and the function of the object detection unit 21 d is added to the CPU 21. Further, the object shape extraction template is removed from the memory 33, and the object shape extraction template is added to the memory 25. Further, in the configuration example of FIG. 9, the distance acquisition unit 21b of FIG. 2 is replaced with a luminance information acquisition unit 21c. The luminance information acquisition unit 21c generates a luminance image based on the luminance value acquired from the CMOS image sensor 240.

In the configuration example of FIG. 9 as well, in the same way as in the above embodiment, the luminance value is obtained from each pixel so that the luminance value corresponding to the distance range in which object detection is possible (corresponding to the distance acquisition range ΔL in the above embodiment) is obtained. Parameters (exposure time, gain) for acquiring values are adjusted, and the adjusted parameter values are set in the imaging signal processing circuit 23. The configuration for adjusting parameters in this manner is an example of a configuration according to claim 14. A configuration in which parameters to be adjusted are exposure time and gain is an example of a configuration according to claims 15 and 16.

  9, the light source 110 that emits infrared light is disposed in the projection unit 100, and the filter 230 and the CMOS image sensor 240 are disposed in the imaging unit 200, as in the above embodiment. Here, the light source 110 includes an LED having the configuration of FIG. 3A or 3D, or the semiconductor laser 112 as shown in FIG. 7A, FIG. 7B, or FIG. It can be composed of a combination of concave lenses 120, 140. The filter 230 is a band-pass filter that transmits light in a wavelength band including the emission wavelength of the light source 110 and cuts light in the visible wavelength band. The CMOS image sensor 240 includes a visible light wavelength band, This is a color image sensor having sensitivity to the wavelength band of infrared light emitted from the light source 110.

  Thus, the configuration in which the projection unit 100 includes the light source 110 that emits light in the infrared wavelength band, and the imaging unit 200 includes the imaging lens 220 and the filter 230 is an example of the configuration according to claim 17. . The configuration in which the light source 110 is formed of an LED is an example of the configuration according to claim 18, or the light source 110 is formed of a semiconductor laser 112, and laser light emitted from the light source 110 is transmitted to the target region by the concave lenses 120 and 140. The configuration projected onto the screen is an example of a configuration according to claim 19.

  Furthermore, in the configuration example of FIG. 9 as well, the imaging lens 220 has high absorption of light in the visible wavelength band and the infrared wavelength, as in the configuration of FIG. 7E according to the modification of the above embodiment. You may form from the material which mixed the dye with low light absorption of a zone | band with the resin material. This configuration is an example of a configuration described in claim 20.

  FIG. 10 is a flowchart showing object detection processing in the present modification. In the flowchart of FIG. 10, S102 to S111 are performed by the luminance information acquisition unit 21c of FIG. 9, and S112 to S114 are performed by the object detection unit 21d of FIG. The processing of S102 to S111 is the same as S102 to S111 of FIG. 8A, and the processing of S112 to S114 is the same as S212 to S214 of FIG. Is omitted.

  When the object detection timing arrives (S201: YES), the CPU 21 generates a luminance image by the processes of S102 to S111. And CPU21 performs the process of S112-S114 with reference to the produced | generated brightness | luminance image, and detects a detection target object. The processes of S201 to S114 are repeatedly executed until the object detection operation is completed (S115).

  Also in this modified example, since it is not necessary to convert the light projected on the target area into a dot pattern as in the above embodiment, the configuration of the projection unit 100 can be simplified. Further, since the object on the target area is detected based on the luminance value, the distance information can be acquired by a simple calculation process.

  In the above embodiment and the modification, the distance and the luminance value are acquired for all the pixels on the CMOS image sensor 240, but the distance and the luminance value are not necessarily acquired for all the pixels. A distance and a luminance value may be acquired every other pixel.

In the above-described embodiment, the visible light removal filter 230 of the infrared imaging unit 200 is disposed between the imaging lens 220 and the CMOS image sensor 240. However, the visible light removal filter 2
The arrangement position of 30 is not limited to this, and may be closer to the target area than the imaging lens 220. Similarly, the arrangement position of the infrared light removal filter 330 of the visible light imaging unit 300 can be changed as appropriate.

  In the above embodiment, the distance information is acquired by software processing by the function of the CPU 21, but acquisition of the distance information may be realized by hardware processing by a circuit.

  Furthermore, in the above-described embodiment, the CMOS image sensor 240 is used as the light receiving element, but a CCD image sensor can be used instead. Also, light in a wavelength band other than infrared can be used for distance acquisition.

  In addition, the embodiment of the present invention can be variously modified as appropriate within the scope of the technical idea shown in the claims.

DESCRIPTION OF SYMBOLS 1 ... Personal computer 2 ... Information acquisition apparatus 7 ... Object detection apparatus 21b ... Distance acquisition part 21c ... Luminance information acquisition part (luminance acquisition part)
21d: Object detection unit 23: Imaging signal processing circuit (luminance acquisition unit)
31a ... Object detection unit 100 ... Projection unit 110 ... Light source 111 ... LED (light source)
112 ... Semiconductor laser (light source)
120, 140 ... concave lens 200 ... imaging unit 220, 221 ... imaging lens 230 ... filter 240 ... CMOS image sensor (image sensor, color image sensor)

Claims (20)

A projection unit that projects light onto the target area;
An imaging unit for imaging the target area by an image sensor;
A luminance acquisition unit for acquiring a luminance value of a predetermined pixel on the image sensor;
A distance acquisition unit that acquires information related to a distance to a position on the target region corresponding to the pixel based on the luminance value acquired by the luminance acquisition unit;
An information acquisition apparatus characterized by that. The information acquisition device according to claim 1,
The distance acquisition unit acquires the luminance value as information on the distance.
An information acquisition apparatus characterized by that. The information acquisition device according to claim 1,
The distance acquisition unit includes definition information that defines a relationship between a luminance value and a distance, and acquires information on the distance to the pixel based on the definition information.
An information acquisition apparatus characterized by that. In the information acquisition device according to any one of claims 1 to 3,
The luminance acquisition unit adjusts a value of a predetermined parameter for acquiring the luminance value from the image sensor so that the luminance value corresponding to a distance range to be acquired is acquired from the pixel.
An information acquisition apparatus characterized by that. The information acquisition device according to claim 4,
The parameter includes an exposure time applied to each pixel on the image sensor.
An information acquisition apparatus characterized by that. In the information acquisition device according to claim 4 or 5,
The parameter includes a gain applied to a signal acquired from each pixel on the image sensor.
An information acquisition apparatus characterized by that. In the information acquisition device according to any one of claims 1 to 6,
The distance acquisition unit excludes the luminance value that is less than a predetermined threshold among the luminance values acquired from the luminance acquisition unit, from an acquisition target of information related to the distance.
An information acquisition apparatus characterized by that. In the information acquisition device according to any one of claims 1 to 7,
The projection unit includes a light source that emits light in an infrared wavelength band,
The imaging unit includes a filter that transmits light in the infrared wavelength band, and an imaging lens that focuses the light irradiated on the target region onto the image sensor.
An information acquisition apparatus characterized by that. In the information acquisition device according to claim 8,
The light source is a light emitting diode;
An information acquisition apparatus characterized by that. In the information acquisition device according to claim 8,
The light source is a semiconductor laser;
The projection unit includes a concave lens that projects laser light emitted from the semiconductor laser onto the target area.
An information acquisition apparatus characterized by that. In the information acquisition device according to any one of claims 8 to 10,
The imaging lens is made of a material that absorbs visible light and transmits light in the infrared wavelength band, and the filter is integrally included in the imaging lens.
An information acquisition apparatus characterized by that. The information acquisition device according to any one of claims 1 to 11,
An object detection unit that detects an object present in the target area based on the information about the distance acquired by the information acquisition device;
An object detection apparatus characterized by that. A projection unit for projecting light in the infrared wavelength band to the target region;
An image capturing unit that includes a color image sensor and a filter that cuts visible light and transmits light in an infrared wavelength band, and images the target region by the color image sensor;
A luminance acquisition unit for acquiring a luminance value of a predetermined pixel on the color image sensor;
An object detection unit that detects an object present in the target region based on the luminance value acquired by the luminance acquisition unit;
An object detection apparatus characterized by that. The object detection device according to claim 13.
The luminance acquisition unit adjusts a value of a predetermined parameter for acquiring the luminance value from the image sensor so that the luminance value corresponding to a distance range to be acquired is acquired from the pixel.
An object detection apparatus characterized by that. The object detection device according to claim 14, wherein
The parameter includes an exposure time applied to each pixel on the image sensor.
An object detection apparatus characterized by that. The object detection apparatus according to claim 14 or 15,
The parameter includes a gain applied to a signal acquired from each pixel on the image sensor.
An object detection apparatus characterized by that. The object detection device according to any one of claims 13 to 16,
The projection unit includes a light source that emits light in the infrared wavelength band,
The imaging unit includes an imaging lens that condenses the light applied to the target area on the color image sensor,
An object detection apparatus characterized by that. The object detection apparatus according to claim 17,
The light source is a light emitting diode;
An object detection apparatus characterized by that. The object detection apparatus according to claim 17,
The light source is a semiconductor laser;
The projection unit includes a concave lens that projects laser light emitted from the semiconductor laser onto the target area.
An object detection apparatus characterized by that. In the object detection device according to any one of claims 17 to 19,
The imaging lens is made of a material that absorbs visible light and transmits light in the infrared wavelength band, and the filter is integrally included in the imaging lens.
An object detection apparatus characterized by that.

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