JP6701482B1 - Mobile object surroundings monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile body periphery monitoring device capable of monitoring a wide range around a mobile body with a simple configuration.
A light incident surface formed of a light-transmissive material, formed rotationally symmetrically about an optical axis of a lens center, and capable of receiving side light from the entire 360° orthogonal to the optical axis. A panoramic image pickup lens 12 having 14 is provided. An image pickup element 24 that captures an image 36 formed by being incident on the panoramic image pickup lens 12, and light that is arranged between the panoramic image pickup lens 12 and the image pickup element 24 and that has entered the panoramic image pickup lens 12 is imaged on the image pickup element 24. The panoramic imaging device 10 having the relay lens 22 is provided. The panoramic imaging device 10 is provided with a reflecting mirror 28 which is arranged in one direction of a 360° field of view and guides light from the periphery of the optical axis direction to a part of the light incident surface 14 of the panoramic imaging lens 12.
[Selection diagram] Figure 1

Description

  The present invention relates to a mobile body peripheral monitoring device such as a vehicle that simultaneously captures a wider field of view using a wide-angle imaging lens.

  2. Description of the Related Art Conventionally, as an optical system capable of 360-degree panoramic photography, as disclosed in Patent Document 1, there is a panoramic imaging lens capable of photographing 360-degree visual field around the lens at one time. As described in Patent Document 1, this panoramic imaging lens is made of a light-transmissive material such as optical glass, and is rotationally symmetrical about the optical axis that is the center of the lens. The panoramic imaging lens is formed in an annular shape so that light is incident from the entire circumference of 360° and an annular light incident surface that is adjacent to and substantially opposed to the light incident surface. It is provided with a reflecting surface and a second reflecting surface which is provided in the center of the ring of the light incident surface and which reflects the reflected light from the first reflecting surface toward the inner part of the ring of the first reflecting surface. A light emitting surface that transmits light from the second reflecting surface is formed at a position facing the second reflecting surface in a center portion inside the ring that is an inner portion of the ring of the first reflecting surface.

  The ring-shaped light incident surface is formed in a convex lens shape, the first reflecting surface facing the light incident surface is formed in a convex shape swelling laterally, and the inner surface side of the lens of the first reflecting surface is the second reflecting surface. It is the reflecting surface of an annular concave mirror facing the direction. The second reflecting surface located on the center side of the light incident surface is formed in a concave shape, and the inner surface side of the lens is the reflecting surface of the convex mirror. Further, the light emitting surface is formed into a concave surface, a convex surface, or a flat surface, depending on the intended use.

  A panoramic image pickup device using this panoramic image pickup lens includes a panoramic image pickup lens unit including an image forming relay lens and a lens holder provided on its optical axis, and a case not shown, and the panoramic image pickup lens unit. It consists of a fixed camera. Then, the 360° panoramic view captured by the panoramic image pickup lens is formed as a ring-shaped image on the image pickup device of the image pickup device, converted into an electric signal, and displayed on various monitor devices. Since the image is a circular image in a polar coordinate system, it is finally converted into a rectangular coordinate system by an image processing device such as a computer (not shown) and displayed as a developed panoramic image.

  On the other hand, in order to ensure the safety of operation of various vehicles, various vehicle surroundings monitoring devices equipped with a vehicle and equipped with a camera for monitoring the surroundings have been proposed. The device disclosed in Patent Document 2 has a large number of cameras arranged around the vehicle to display a camera image in the driver's viewing direction, thereby eliminating blind spots around the vehicle.

  In addition, as disclosed in Patent Documents 3, 4, and 5, a vehicle periphery provided with a prism or a plurality of mirrors arranged in front of a camera lens to divide a visual field direction and guide images in different directions to the camera. Monitoring devices have also been proposed. As a result, the field of view taken with one camera is increased, the surroundings of the vehicle can be monitored in a wider area, and the blind spot around the vehicle is reduced.

JP, 2003-167193, A JP, 2005-136561, A JP, 2004-104476, A JP, 2009-184557, A JP, 2011-5930, A

  The panoramic imaging device disclosed in Patent Document 1 is an optical system that has a field of view of 360° but cannot capture a distant image in the optical axis direction, which is the center of the lens. Normally, the optical axis is in the vertical direction. Used as a device to monitor 360° in the horizontal direction. Therefore, it is not used in a monitoring device that monitors the side, the lower side, or the rear of the vehicle.

  The vehicle periphery monitoring device disclosed in Patent Document 2 is not a practical vehicle monitoring device because it uses a large number of cameras, the device is complicated, and the cost is high. Further, although the optical system used in the vehicle periphery monitoring device disclosed in Patent Documents 2 to 5 uses a wide-angle lens having a wide angle of view and a prism or a mirror to enable a field of view in a plurality of directions, The angle of view of a wide-angle lens is relatively wide, but when divided and displayed, the field of view in one direction is narrow, and a single camera can effectively monitor a wide range of vehicles. It is not a device.

  The present invention has been made in view of the background art described above, and an object of the present invention is to provide a moving body surrounding area monitoring device capable of monitoring a wide range around a moving body such as a vehicle with a simple configuration.

  The present invention is made of a light-transmissive material, is formed in rotational symmetry about the optical axis of the lens center, and is capable of entering side light from the entire 360° orthogonal to the optical axis. A panoramic image pickup lens having a surface, an image pickup element for capturing an image formed by being incident on the panoramic image pickup lens, and light incident on the panoramic image pickup lens arranged between the panoramic image pickup lens and the image pickup element. A panoramic image pickup device having an image pickup optical system for forming an image on the image pickup device is arranged in one direction of a 360° field of view of the panoramic image pickup device, and light from the periphery of the optical axis direction of the panoramic image pickup lens is provided. It is a mobile body surroundings monitoring device provided with a reflecting mirror for guiding a part of the light incident surface.

  The panoramic imaging lens is formed to be rotationally symmetric about the optical axis of the lens center, and the light incident surface is formed in a convex lens shape so that light from the entire circumference of 360° can enter, and the light incident surface and the light incident surface. At a position facing each other, a first reflecting surface is formed in an annular shape on a part of the surface of the panoramic image pickup lens, and bulges outward so as to reflect light into the panoramic image pickup lens and is formed into a concave mirror shape. On the surface of the panoramic imaging lens in the center of the ring of the light incident surface, the second reflecting surface in the shape of a convex mirror that reflects the reflected light from the first reflecting surface toward the inner part of the ring of the first reflecting surface. Is provided, and a light emitting surface that faces the second reflecting surface and that transmits light from the second reflecting surface is provided in the center of the ring of the first reflecting surface.

  At least one of the direction of the optical axis of the panoramic image pickup lens and the image pickup optical system and the direction included in the range of the viewing angle of the reflecting mirror is provided so as to coincide with a horizontal direction or less, and the panoramic image pickup lens is provided. Is incident on the lower and both sides orthogonal to the optical axis and the image in the viewing angle direction of the reflecting mirror.

  Of the images incident on the image sensor, a display device for displaying an image around the optical axis captured by the reflecting mirror and another image incident on the image sensor, and processing the images. At least one of the image processing devices is provided. The display device displays an image on the horizontal side of the panoramic image pickup device, an image below, and an image around the optical axis in one display screen.

  Particularly, the panoramic imaging device is arranged in front of or behind a moving body such as a vehicle so that the front or rear of the moving body can be monitored. Further, the panoramic image pickup device may be arranged on the side of the moving body so that the side of the moving body and the front or the rear can be monitored. Further, the panoramic image pickup device may be arranged at at least one of the corners of the front and rear of the moving body so that the side and front and/or rear of the moving body can be monitored.

  According to the moving body surroundings monitoring device of the present invention, it is possible to monitor the surroundings of a moving body in a wider range with a simple device, eliminate the blind spot of the driver of the moving body, and contribute to safe driving. In particular, a panoramic imaging lens capable of shooting a wide range of 360° is used, and an unnecessary portion of the shooting range is used for shooting an image in another direction using a reflecting mirror. It enables a wide range of monitoring required by the image sensor.

It is a figure which shows the outline of the optical system of the moving body periphery monitoring apparatus of one Embodiment of this invention. It is a top view of the vehicle which attached the mobile body circumference monitoring device of this embodiment. It is a side view of the vehicle which attached the mobile body circumference monitoring device of this embodiment. FIG. 2A is a schematic diagram showing a shooting range in a state where the panoramic imaging device of this embodiment is arranged behind a moving body, and a schematic view showing a shooting range in a state being arranged on a side of the moving body. It is a schematic diagram which shows the cyclic|annular panoramic image panorama image|photographed by the mobile body periphery monitoring apparatus of this embodiment. It is a schematic diagram which shows the display method which image-processes the cyclic|annular panoramic image panoramic-photographed by the mobile body periphery monitoring apparatus of this embodiment, and displays it on a display apparatus. It is a schematic diagram which shows the other example of a display of the panorama image imaged by the mobile body periphery monitoring apparatus of this embodiment. The top view (a) which shows the other example of the vehicle which attached the moving body periphery monitoring apparatus of this embodiment, and the schematic diagram (b) which shows the imaging range in the state which has arrange|positioned this panoramic imaging device in the corner|angular part of a moving body. Is.

  Embodiments of the present invention will be described below with reference to the drawings. 1 to 6 show an embodiment of the present invention. A panoramic image pickup device 10 used in a mobile body surroundings monitoring device of this embodiment is formed of an optical glass or a transparent resin for a lens, and has a lens center. The panoramic image pickup lens 12 is formed so as to be rotationally symmetrical about the optical axis x. Hereinafter, in the XYZ orthogonal coordinate system, the directions of the optical system and the space are the horizontal directions in the X-axis direction, and in this embodiment, they coincide with the optical axis x direction. Further, the horizontal direction orthogonal to the X axis is the Y axis direction, and the vertical direction orthogonal to the X axis and the Y axis is the Z axis direction.

  The panoramic imaging lens 12 is a ring-shaped light into which the incident light L from the side is incident within the range of the angle of view θ on the surface on the optical axis x from the entire circumference of 360° so that the visual field of 360° can be imaged at one time. It has an entrance surface 14. The angle of view θ is set in the range of 40° to 80°, for example, in the range of −15° to 35° with respect to the direction orthogonal to the optical axis x of the panoramic imaging lens 12. The ring-shaped light incident surface 14 is formed in a convex lens shape with a bulged surface. Further, the panoramic imaging lens 12 has an annular first reflecting surface 16 that reflects the incident light L incident from the light incident surface 14 into the panoramic imaging lens 12 at a predetermined distance from the light incident surface 14. Have. A second reflection surface 18 that reflects the reflected light R from the first reflection surface 16 toward the inner side portion of the ring of the first reflection surface 16 is provided at the center of the ring-shaped light entrance surface 14 in the inside of the ring. It is provided at the center of the light incident surface 14 in the ring centered on the optical axis x of the lens 12.

  The first reflecting surface 16 is formed in a ring shape at a position facing the light incident surface 14 on the surface of the panoramic imaging lens 12, and the surface of the panoramic imaging lens 12 is formed as a convex surface that bulges outward. The inner surface side of the panoramic imaging lens 12 of the first reflecting surface 16 is a reflecting surface of an annular concave mirror facing the second reflecting surface 18. The second reflection surface 18 is formed as a concave surface, and the surface side of the panoramic imaging lens 12 is formed as a reflection surface of a convex mirror. The first reflecting surface 16 and the second reflecting surface 18 are mirror surfaces obtained by forming a metal thin film on the surface of the panoramic imaging lens 12 by aluminum vapor deposition or the like.

  A light emitting surface 20 that transmits light from the second reflecting surface 18 is formed at a position facing the second reflecting surface 18 at the center of the annular first reflecting surface 16 in the ring. The light emitting surface 20 is formed into a concave surface, a convex surface, or a flat surface according to the optical system. The surface shapes of the light incident surface 14, the first reflecting surface 16, and the second reflecting surface 18 are spherical surfaces so that a 360° panoramic image incident from the light incident surface 14 can be obtained through the light emitting surface 20. It is formed in an aspherical shape set by a predetermined formula.

  The panoramic image pickup lens 12 includes an image forming relay lens 22 that is an image pickup optical system that is provided on the optical axis x and faces the light exit surface 20, and is held by a lens holder (not shown). Not provided in the housing. An image pickup element 24 made of a semiconductor such as CMOS is provided at the image forming position of the relay lens 22, and constitutes the panoramic image pickup apparatus 10. As shown in FIG. 5, the image formed on the image sensor 24 is captured as an annular panoramic image in a concentric polar coordinate system, so the image processing device (not shown) image-processes the annular panoramic image to obtain orthogonal coordinates. It is converted into a system image and is displayed as a monitor image 34 on the display device 26 as shown in FIG. 6, for example.

  Further, in one direction of the field of view of the panoramic image pickup device 10, as shown in FIG. 1, incident light L from the side of the optical axis x of the panoramic image pickup lens 12 is provided in a predetermined direction on the light incident surface 14 of the panoramic image pickup lens 12. The reflecting mirror 28 that guides a part of the range, for example, a range of about 90° out of the range of 360° to the light incident surface 14 is provided. The direction of the reflecting mirror 28 is set at a predetermined angle α, for example, with respect to the optical axis x direction so that light in a direction close to the optical axis x direction of the panoramic imaging lens 12 is incident on the light incident surface 14 of the panoramic image pickup lens 12. α=20° to 50°.

  In this embodiment, at least one of the optical axis x direction of the panoramic imaging lens 12 and the relay lens 22 and the direction included in the range of the viewing angle β of the reflecting mirror 28 on the XZ plane including the Z axis direction which is the vertical direction. Are provided so as to coincide with the horizontal X-axis direction. As a result, the panoramic imaging lens 12 has a viewing angle β and a viewing angle β in the vertical direction of the optical axis x of the panoramic imaging lens 12, both sides in the horizontal direction of ± in the Y-axis direction, and the vertical direction of the reflecting mirror 28. Light from a subject in a direction that falls within the range of the horizontal viewing angle γ enters. The viewing angle β of the reflecting mirror 28 and the viewing angle γ of the reflecting mirror 28 in a plane orthogonal to the plane that determines the viewing angle β and parallel to the optical axis x are the size of the reflecting mirror 28 and It is set appropriately depending on the curvature. In the moving object periphery monitoring apparatus of this embodiment, the reflecting mirror 28 causes the light in the range intersecting the optical axis x direction of the panoramic imaging lens 12 at an acute angle of approximately 45° or less to enter the panoramic imaging lens 12. Is installed as.

  Next, a vehicle 30 equipped with the moving body surroundings monitoring device of this embodiment will be described. The type of the vehicle 30, which is a moving body, does not matter, and although the drawing shows a one-box type passenger car, it is a large bus, truck, excavator car, bulldozer, crane car, other civil engineering machinery, industrial use. It may be a forklift truck, a tractor or the like, and can be used by being attached to an appropriate moving body such as various manned or unmanned carts.

  The moving body surroundings monitoring device is mounted with the panoramic imaging device 10 on the rear portion 30a where a driver's blind spot occurs in the vehicle 30, and the image processing device and the display device 26 are mounted at appropriate positions in the vehicle (not shown). The image processing device may be provided in an external host computer connected to the vehicle 30 via a network, and converts a panoramic image into an image in a Cartesian coordinate system, and information obtained by detecting a person, an animal, or various other objects. The processing of (1) or the processing for positioning the own vehicle using the optical beacon or SLAM technology may be performed. Further, the panoramic image pickup device 10 may be appropriately mounted inside or under the side mirror 32 on the side opposite to the driver's seat of the vehicle 30 and other side surfaces. The optical axis x of the panoramic imaging lens 12 is attached to each panoramic imaging device 10 in the horizontal direction.

  Here, the range that can be monitored by the panoramic imaging device 10 will be described based on FIG. When the panoramic image pickup device 10 is attached to the rear portion 30a of the vehicle 30, as shown in FIG. 4A, the range of the vertical viewing angle β and the horizontal viewing angle γ of the reflecting mirror 28 is within the range of the traveling of the vehicle 30. When the direction is Fw, it is possible to monitor a range of a field of view of 90° vertically and horizontally behind the vehicle 30. Further, within the 360° image-capturing range of the panoramic image pickup apparatus 10, the monitoring range δ other than the portion where the light from the reflecting mirror 28 enters can be 180° or more, for example, a range of about 250°. Therefore, the monitoring range δ can be monitored by the angle of view θ of the panoramic imaging device 10. When the panoramic imaging device 10 is attached to the rear portion 30a of the vehicle 30, the rear portion including the optical axis x direction, the left and right directions of the rear portion 30a of the vehicle 30 in the Y-axis direction and the diagonally upper left and right sides, and the Z-axis direction of the rear portion 30a. It is possible to monitor the monitoring range δ including the situation below.

  Similarly, when the panoramic imaging device 10 is attached to the side mirror 32 on the side of the vehicle 30, the range of the vertical viewing angle β and the horizontal viewing angle γ of the reflecting mirror 28 is within the traveling direction Fw of the vehicle 30. It is a lateral direction that is orthogonal to, and it is possible to monitor a range of a visual field of 90° vertically and horizontally. Furthermore, in the Y-axis direction that is orthogonal to the optical axis x direction, it is the front-rear direction on the side where the side mirror 32 is provided, and the front-rear direction and the front-rear oblique upper direction in the Y-axis direction that is the traveling direction Fw of the vehicle, and the side mirror 32. It is possible to monitor the monitoring range δ including the situation below. Similarly to the above, the monitoring range δ can be set to a range of 180° or more, for example, about 250°.

  The monitoring image 34 displayed on the display device 26 is captured by the image sensor 24 as the circular polar coordinate system panoramic image 36 shown in FIG. 5. Therefore, the captured image of the polar coordinate system is processed by the image processing device. Then, as shown in FIG. 6, the distortion is corrected as a monitor image 34 in the Cartesian coordinate system and displayed on a square display screen of the display device 26.

  Since the optical axis x of the panoramic image pickup lens 12 is attached in the horizontal direction in the panoramic image pickup apparatus 10, the annular panoramic image 36 shown in FIG. 5 has left and right side images 36a and 36b and the rear portion 30a of the vehicle 30. Lower images 36c of the lower part of the image are continuously captured. Further, in the range of the viewing angle β and the viewing angle γ of approximately 90° above the panoramic image 36, the light is reflected by the reflecting mirror 28 and is incident on the light incident surface 14 of the panoramic image pickup lens 12 in a substantially horizontal direction at a rear distance. The rear distant image 36d is captured.

  The panoramic image 36 shown in FIG. 5 taken by the image pickup device 24 of the panoramic image pickup device 10 is converted into a monitor image 34 in the Cartesian coordinate system shown in FIG. 6 by an image processing device (not shown) and displayed on the display device 26. It In the displayed monitoring image 34, the left and right side images 34a and 34b are displayed on both sides, and the lower image 34c of the rear portion 30a of the vehicle 30 is divided and displayed. Further, the rear far image 36d reflected by the reflecting mirror 28 in the range of approximately 90° above the panoramic image 36 shown in FIG. 5 is displayed as the rear far image 34d shown in FIG.

  As another display method of the panoramic image 36 captured by the panoramic imaging device 10, as in the monitoring image 38 illustrated in FIG. 7, the left and right side images 34a and 34b of the panoramic image 36 and the lower image 34c are continuously displayed. The left and right side images 38a and 38b may be displayed, and the image reflected by the reflecting mirror 28 may be displayed large as the rear far image 38c between the side images 38a and 38b.

  According to this mobile body periphery monitoring device, it is possible to effectively acquire a wide range of images by using the panoramic imaging device 10 capable of capturing the 360° range, and the necessity within the 360° range. For a range without a mark, an image of a necessary range is incident on the panoramic image pickup lens 12 by using the reflecting mirror 28, and a single panoramic image pickup device 10 can monitor an extremely wide range around the vehicle 30. Is. In particular, when the rear portion 30a of the vehicle 30 is provided, on the left and right sides of the rear portion 30a in the Y-axis direction, there are 180° or more from diagonally upper left and right including a horizontal direction orthogonal to the optical axis x direction and lower than the Z-axis direction. In the monitoring range δ, the rear of the vehicle 30 can be monitored with the angle of view θ of the panoramic imaging lens 12. Further, it is possible to reliably monitor the range in the optical axis x direction and in the rear far side in the horizontal X-axis direction with the viewing angles β and γ. Also, when the side mirror 32 is provided with the panoramic image pickup device 10, the panorama image pickup is performed in a monitoring range δ of 180° or more including diagonally upward in the Y-axis direction which is the front-rear direction of the side mirror 32 and downward in the Z-axis direction. The front-back direction of the vehicle 30 can be monitored by the angle of view θ of the lens 12. Further, it is possible to reliably monitor the range of the side mirror 32 on the lateral side in the X-axis direction, which is the optical axis x direction of the panoramic imaging device 10, with the viewing angles β and γ.

  It should be noted that the moving body surroundings monitoring device of the present invention is not limited to the above embodiment, and as shown in FIG. 8A, two panoramic image pickup devices 10 are provided at the corners of the rear portion 30a of the vehicle 30. By taking a picture, it is possible to monitor the lateral sides of the vehicle 30 in the front-rear direction in the horizontal direction of 180° or more, downward, and rearward. Further, it is advisable to take an image of the corners of the opposite sides of each of the two corners of the vehicle 30, with the reflecting mirror 28 oriented horizontally. Accordingly, the range reflected on the reflecting mirror 28 can be monitored behind the rear portion 30a and laterally in the front-rear horizontal direction of the vehicle 30, and the two panoramic imaging devices 10 can be used to cover the entire rear portion of the rear portion 30a of the vehicle 30. Can be monitored. In this embodiment, at the corner of the rear portion 30a of the vehicle 30, the optical axis x direction of the panoramic imaging lens 12 is arranged so as to face the intermediate direction between the horizontal X axis and the Y axis direction, and is oblique to the XY plane. The corner portion of the rear portion 30a is monitored at the angle of view θ in the monitoring range δ of 180° or more below the Z axis direction. Further, in the optical axis x direction, which is an intermediate direction between the horizontal X-axis and the Y-axis, the rear side range can be reliably monitored with the viewing angles β and γ.

  According to the mobile body surroundings monitoring device of this embodiment, at least three cameras (front, rear, left, and right) are usually required, but only two panoramic image pickup devices 10 are provided, and the left and right sides of the vehicle 30 and the rear upper and lower sides. Also, it becomes possible to reliably monitor the entire range in the rear and the distance, and it is possible to easily enhance the safety such as driving the vehicle.

  In addition, the configuration of the invention of the present application can be appropriately selected. Contrary to the example shown in FIG. 8, the panoramic imaging device 10 is provided at a front corner of the vehicle 30 to capture an image. It is possible to monitor the front and rear in the horizontal and downward directions of 180° or more, and the front. Further, by providing the panoramic imaging device 10 on the side of the vehicle 30 to take an image, it is possible to monitor the side of the vehicle 30 in the front-rear direction in the horizontal and downward directions of 180° or more and in the front. Further, the panoramic image pickup device may be provided on the rear side and both side surfaces of the moving body to monitor the surroundings of the moving body by three panoramic image pickup devices, and the number of units to be installed and the monitoring direction can be appropriately selected. Is.

  Further, the optical axis x direction of the panoramic imaging lens 12 and the relay lens 22 can be set appropriately according to the application. When the optical axis x direction is equal to or less than the horizontal direction, assuming that the maximum incident angle on the second reflecting surface 18 side of the light incident surface 14 of the panoramic imaging lens 12 is the elevation angle, the elevation angle direction is directed directly below the vertical direction. The direction of the optical axis x can be appropriately set within a range up to this position. Further, when the direction of the optical axis x is above the horizontal direction, in the light incident surface 14 of the panoramic imaging lens 12, when the maximum incident angle on the first reflecting surface 14 side is the depression angle, the depression angle is directly below the vertical direction. The direction of the optical axis x can be set as appropriate within a range up to the position facing. Further, the reflecting mirror may be an optical element using a prism other than the one having a mirror surface, and the mirror surface may be not only a plane mirror but also a concave mirror or a convex mirror regardless of the type and material thereof. In the panoramic imaging lens, the arrangement position and the horizontal angle of the optical axis when it is installed are appropriately set, and the material and the viewing angle can also be appropriately selected.

10 Panorama Imaging Device 12 Panorama Imaging Lens 14 Light Incident Surface 16 First Reflection Surface 18 Second Reflection Surface 20 Light Emission Surface 22 Relay Lens 24 Imaging Device 26 Display Device 28 Reflector 30 Vehicle 30a Vehicle Rear 32 Side Mirror 34 Surveillance Image 36 Panoramic image

Claims (8)

It was made of a light-transmissive material, was formed in rotational symmetry around the optical axis of the lens center, and had a light incident surface on which side light could enter from the entire 360° orthogonal to the optical axis. A panoramic imaging lens, an imaging element that captures an image formed by being incident on the panoramic imaging lens, and light incident on the panoramic imaging lens disposed between the panoramic imaging lens and the imaging element to the imaging element. A panoramic image pickup device having an image pickup optical system for forming an image;
A movement including a reflecting mirror that is arranged in one direction of a 360° field of view of the panoramic image pickup device and guides light from the periphery of the optical axis direction to a part of the light incident surface of the panoramic image pickup lens. Body circumference monitoring device.   The panoramic imaging lens is formed to be rotationally symmetric about the optical axis of the lens center, and the light incident surface is formed in a convex lens shape so that light from the entire circumference of 360° can enter, and the light incident surface and the light incident surface. At a position facing each other, a first reflecting surface formed in a ring shape on a part of the surface of the panoramic imaging lens and bulged outward so as to reflect light into the panoramic imaging lens and formed in a concave mirror shape is provided, On the surface of the panoramic imaging lens in the center of the ring of the light incident surface, the second reflecting surface in the shape of a convex mirror that reflects the reflected light from the first reflecting surface toward the inner part of the ring of the first reflecting surface. The moving body according to claim 1, further comprising: a light emitting surface that is located opposite to the second reflecting surface and that transmits light from the second reflecting surface, the light emitting surface being provided in the center of the ring of the first reflecting surface. Perimeter monitoring device.   At least one of the direction of the optical axis of the panoramic image pickup lens and the image pickup optical system and the direction included in the range of the viewing angle of the reflecting mirror is provided so as to coincide with a horizontal direction or less, and the panoramic image pickup lens is provided. The mobile body periphery monitoring device according to claim 1 or 2, wherein an image in a downward direction, a lateral direction, and the viewing angle direction of the reflecting mirror is incident on the optical axis.   Of the images incident on the image sensor, a display device for displaying an image around the optical axis captured by the reflecting mirror and another image incident on the image sensor, and processing the images. The mobile body periphery monitoring device according to claim 1, further comprising at least one of an image processing device.   The mobile body surroundings monitoring device according to claim 4, wherein the display device displays a horizontal side image, a lower side image, and an image around the optical axis of the panoramic imaging device on one display screen.   The mobile body periphery monitoring device according to claim 4 or 5, wherein the panoramic imaging device is arranged in front of or behind the mobile body so that the front or rear of the mobile body can be monitored.   The mobile body surroundings monitoring device according to claim 4 or 5, wherein the panoramic imaging device is arranged on a side of the mobile body so that the side of the mobile body and a front side or a rear side can be monitored.   The mobile body periphery monitoring according to claim 4 or 5, wherein the panoramic imaging device is arranged at at least one of a front and a rear corner of the mobile body so that the side, front and/or rear of the mobile body can be monitored. apparatus.

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