JP2018085553A - Projector system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an interactive projector system capable of accurately detecting the position of an object to be detected on a projection screen.SOLUTION: An imaging unit 50 has a fisheye lens 30 to thereby pick up an image in a wide detection range. Even when the image in the projection area picked up by using the fisheye lens 30 is distorted, by inclining the image pick-up device 40 as a part of a rectangular sensor, the image in an irradiation area (projection area) PLa is fully expanded within the image pick-up device 40, and each position is largely projected.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a projector system for realizing a so-called interactive projector capable of writing by detecting an indicator such as a finger on a projection screen and reflecting it on the content of a projection image.

  As an interactive projector, for example, a light emitting device that emits an infrared light layer on almost the entire projection screen (screen) is provided separately from the projection mechanism of the projector, and red light from the light emitting device is provided. Also known is that external light is reflected at the tip (eg, fingertip) of the indicator, and the reflected light is detected by a position detection device such as an imaging unit to detect an instruction operation by the indicator and achieve an interactive function. (For example, refer to Patent Document 1).

  Further, as an interactive projector, for example, infrared light emitted from a pointing device pointing on the projection screen is detected by the imaging device and the light emission position of the infrared light on the projection screen is specified as described above. One that achieves an interactive function is known (see, for example, Patent Document 2).

  However, in an interactive projector configuration, even if the user approaches the projection screen (screen) and indicates the position, the projector may be obliquely projected (proximity projection) so that the user's shadow is not easily reflected on the screen. Many. For this reason, an imaging device with a wide angle of view is required. In this case, particularly in the peripheral side of the detection range, the image of the detection location is distorted and becomes small, and erroneous detection or non-detection occurs, that is, there is a high possibility that the position detection accuracy decreases. In this case, in an interactive projector, for example, the drawing position may deviate from the pen tip of the pen as the indicator, and the image cannot be drawn properly at the intended position.

JP2015-159524A JP 2013-38626 A

  An object of the present invention is to provide a projector system having high position detection accuracy for a detection target on a projection screen when an interactive projector is realized.

  In order to achieve the above object, a projector system according to the present invention includes a projector main body that projects image light obliquely, and a fisheye lens and a rectangular sensor that receives light via the fisheye lens. The rectangular sensor unit is inclined with respect to the rectangular projection image formed in the projection region by the image light from the projector main body unit.

  In the projector system, by applying a fisheye lens in the imaging unit, it is possible to image a wide detection range, and even if the image of the projection area captured by using the fisheye lens is distorted, the rectangular sensor unit is inclined, When the image obtained by capturing the projection area is fully expanded within the area of the rectangular sensor unit, each position of the imaged projection area can be displayed larger, so that the position detection accuracy can be improved.

  According to a specific aspect of the present invention, the imaging unit includes an equidistant projection type lens as a fisheye lens. In this case, by adopting the equidistant projection method, it is possible to obtain a sufficiently wide angle of view when the close projection area by oblique projection is imaged by the imaging unit.

  According to another aspect of the present invention, the imaging unit includes a stereoscopic projection type lens as a fisheye lens. In this case, by adopting the stereoscopic projection method, it is possible to achieve a wide angle of view while suppressing distortion at the peripheral part of the image.

  According to still another aspect of the present invention, the imaging unit detects light in the infrared light wavelength band as detection light in a wavelength band other than the wavelength band of the image light. In this case, light other than image light can be detected as detection light by using light in the infrared wavelength band.

  According to still another aspect of the present invention, the imaging unit images a stereoscopic area including a projection area of image light from the projector main body, and enables detection of an indicator existing in the stereoscopic area. In this case, not only the projection area but also a three-dimensional area including the projection area can be imaged.

  According to still another aspect of the present invention, the imaging unit includes two or more cameras. In this case, for example, parallax information can be acquired.

  According to still another aspect of the present invention, the imaging unit includes, as two or more cameras, a pair of cameras that are provided apart from each other in a direction that intersects an emission direction of the image light from the projector main body unit. The rectangular sensor portions provided on the cameras are inclined in different directions. In this case, in each camera constituting the pair of cameras, it is possible to project a larger projection area according to the installation position.

  According to still another aspect of the present invention, the imaging unit is inclined at a tilt angle within a range of 0 ° to 15 °. In this case, the wide angle of view of the imaging unit can be suppressed.

  According to still another aspect of the present invention, an image projection position based on image light information acquired by the imaging unit and a position detected by the imaging unit are identified, and image projection control based on the identified positional relationship is performed. A projector control unit is further provided. In this case, the projector control unit can associate the image projection position with the position detected by the imaging unit, and can perform an interactive projector operation such as writing the movement of the detected position on the projection screen, for example. As for the projector control unit, various modes such as a case where the PC connected to the projector main unit functions as the projector control unit in addition to the case where the projector control unit is incorporated in the projector main unit are conceivable.

  According to still another aspect of the present invention, the projector main body performs image projection that reflects information on a position detected by the imaging unit. In this case, interactive image projection reflecting information on the detected position is possible.

It is a figure which shows schematic structure of the projector system of 1st Embodiment. It is a figure which shows the structure of a projector system. It is a figure for demonstrating the imaging | photography range of the imaging part in an example projector. It is a figure for demonstrating the slow ratio of a projector. It is a figure which shows the projection angle in each position of the projection screen in an example projector. It is a figure shown regarding the dimension about the position and imaging range of an imaging part in an example projector. It is a figure which shows the positional relationship of each part and the projection image of a projector in an example projector. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in an example projector. It is a figure which shows the example of the image in a part on the sensor imaged by the imaging part. It is a figure which shows the positional relationship of each part of the projector of a comparative example, and a projection image. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in the projector of a comparative example. It is a figure which shows the example of the image in one part on the sensor imaged by the imaging part of the projector of the comparative example. It is a figure which shows the mode of the projection of the pattern image at the time of calibration. It is a figure which shows the positional relationship of each part of a projector and projection image in the projector of one modification. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in the projector of one modification. It is a figure which shows the example of the image in a part on the sensor imaged by the imaging part of the modification. It is a figure which shows the positional relationship of each part of a projector in a projector of an example which comprises the projector system of 2nd Embodiment, and a projection image. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in an example projector. It is a figure which shows the positional relationship of each part of a projector and projection image in the projector of one modification. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in the projector of one modification. It is a figure which shows schematic structure of the projector system of 3rd Embodiment. It is a figure for demonstrating the imaging | photography range of an imaging part. It is a perspective view which shows the three-dimensional area | region as an imaging | photography range of an imaging part. It is a figure shown regarding the dimension about the position and imaging range of an imaging part in an example projector. It is a figure which shows the positional relationship of each part and the projection image of a projector in an example projector. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in an example projector. It is a figure which shows the positional relationship of each part and the projection image of a projector in an example projector. It is a figure which shows the positional relationship of each part of a projector and projection image in the projector of one modification. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in the projector of one modification. It is a figure which shows the positional relationship of each part of a projector and projection image in the projector of one modification. It is a figure which shows the positional relationship of each part of a projector in a projector of an example which comprises the projector system of 3rd Embodiment, and a projection image. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in an example projector. It is a figure which shows the positional relationship of each part of a projector and projection image in the projector of one modification. It is a figure which shows the mode of the image on the sensor imaged by the imaging part in the projector of one modification.

[First Embodiment]
Hereinafter, a projector system according to a first embodiment of the invention will be described with reference to the drawings.

  A projector system 500 shown in FIG. 1 and the like includes a projector 100 that projects image light by projecting projection light PL that is image light (oblique projection). The irradiated area PLa of the projection light PL is formed on the screen SC, for example. The irradiated area PLa corresponds to a projection area of projection light (image light) PL from the projector 100. Although not shown, the projector system 500 is configured by connecting, for example, a PC or the like in addition to the projector 100, and the PC performs various processes as necessary to display the irradiation area PLa. It enables image operations in interactive situations that accept writing on the screen. In the projector system 500, the projector 100 is installed shortly above the screen SC, and is a short focus type that projects close-up toward the screen SC diagonally below (here, it is a so-called ultra-short focus close projection). The projector main body 100p, which is a main body for performing image projection, and the imaging unit 50 are configured.

  The projector body 100p forms a projection image (color image) by projecting projection light PL, which is image light configured by combining light in the visible light wavelength band, toward the screen SC. In the projector system 500, in order to enable interactive image projection, it is assumed that alignment (calibration) for specifying the position of the indicator on the projection screen is performed. This calibration will be described later with reference to FIG.

  Although not shown in detail, the projector main body 100p includes a light source, a light modulation device, a projection optical system, and the like, and performs image projection on the screen SC. Therefore, for example, as shown in FIG. 2, the projector body 100 p includes an image projection unit 90 including a projection optical system and a projector control unit CT, and various operation controls such as image projection are performed by the projector control unit CT. Has been made. In particular, the projector control unit CT makes it possible to accept information from the imaging unit 50 via the communication unit 82 of the imaging unit 50, and corrects the content of the image to be projected in consideration of the information from the imaging unit 50. Thus, writing on the screen is possible, that is, interactive image projection is possible.

  Various forms are possible for the optical system constituting the projector main body 100p. For example, various light sources can be applied, such as a laser light source, an LED light source, and an organic EL (O -LED) can also be used. In particular, when a self-luminous light source such as an organic EL element is applied, the light source can be configured as an image device that also serves as a light modulation. When the light source (backlight) and the light modulation are configured separately, the light modulation device can be, for example, a transmissive liquid crystal panel.

  The imaging unit 50 is a sensor device that captures a projection image projected by the projector body 100p and acquires image information. In the present embodiment, in particular, the imaging unit 50 is disposed on the side (left side) of the projector main body 100p. The imaging unit 50 (or the camera constituting the imaging unit 50) is, for example, an imaging lens, a light receiving element (imaging element), that is, a light receiving sensor, or transmission to another device by the communication unit 82 (see FIG. 2). And a control device for performing various controls including the above. In particular, in the present embodiment, a so-called fisheye lens is provided as the imaging lens.

Hereinafter, an example of the configuration and imaging range of the imaging unit 50 will be described with reference to FIG. As illustrated, in the present embodiment, the imaging unit 50 includes a fish-eye lens 30 as an imaging lens and an imaging element 40 as a light receiving sensor. That is, the projection image on the irradiated region PLa, which is an imaging target, is formed on the imaging element 40 while being captured via the fisheye lens 30. Note that the image sensor 40 is a rectangular sensor unit. In the present embodiment, an equidistance projection method using a so-called fθ lens defined by the following equation is employed as the fisheye lens 30.
y = f · θ
Here, the focal length is f, the half field angle (or simply the field angle) is θ, and the image height is y.
In this case, in the captured image, although distortion (compression) occurs particularly on the peripheral side, it is possible to obtain a wide angle of view. Further, in the present embodiment, the image sensor 40 that is a rectangular sensor unit is disposed so as to be inclined with respect to a rectangular projection image (projection screen) displayed on the irradiated region PLa. Details of the tilt of the image sensor 40 will be described later with reference to FIG. 6A and the like.

  Here, the optical axis AX of the imaging unit 50 (camera constituting the imaging unit 50) is not perpendicular to the screen SC, which is the irradiated surface of the projector main body 100p, but slightly tilted downward. In other words, the imaging unit 50 captures an image with a tilt. In this case, by appropriately increasing the tilt angle, the maximum angle of view required for imaging can be reduced compared to the case where there is no tilt angle (0 °). Here, the tilt angle α is set to 0 ° to 15 °. For example, as long as the imaging unit 50 has a sufficiently wide angle of view, there may be no tilt angle. Here, as an example, the tilt angle α = 10 °.

  Returning to FIG. 1 and the like, in the projector main body 100p, the projector control unit CT (see FIG. 2) detects the detected indicator (infrared light described later) included in the image information acquired by the imaging by the imaging unit 50. An image reflecting the positional information of the generated pen or the fingertip of the user is projected by the image projection unit 90 (see FIG. 2). Note that the imaging unit 50 plays a role as a configuration for grasping the projection image position of the projector 100. Therefore, for example, the imaging unit 50 has an angle corresponding to a projection angle, a projection distance, or the like in image projection by the projector main body unit 100p. It is arranged so that the lens is facing. That is, even if the installation environment of the projector 100 changes and the projection distance or the like changes, the positional relationship between the projector main body 100p and the imaging unit 50 does not change, or even if it occurs, the image can be corrected to the extent possible. I try to be something.

  In addition, the projector main body 100p includes pixels of an image forming unit (a pixel matrix in light modulation) constituting the projector main body 100p and an image pickup element built in the image pickup unit 50 based on image information acquired by the image pickup unit 50. Calibration that associates the positional relationship with the pixel of the (light receiving sensor) is enabled.

  Note that the imaging unit 50 can be incorporated as part of the projector 100, but the imaging unit 50 may exist as an imaging device separate from the projector 100, for example.

  Here, with reference to FIG. 1, image projection in an interactive situation by the projector 100 configured as described above will be briefly described. First, on or near the screen SC, in addition to the projection light PL as described above, infrared light (that is, a wavelength band other than the wavelength band of the projection light PL) from the tip TP of the pen 70 held by the user HU. IL is injected. A part of the infrared light IL is detected as the detection light DL by the imaging unit 50, whereby the indicated position on the screen by the user HU is specified. For example, when the tip portion TP of the pen 70 touches the screen SC, the infrared light IL shines or the blinking frequency changes. By detecting this by the imaging unit 50 constituted by a camera, the designated position on the screen SC is recognized, and the type of line to be drawn is determined. In addition, although various aspects can be considered about the lighting shape etc. of the pen 70 as the indicator to emit light, here, as an example, the size of the light emitting point of the tip portion TP indicating the light emitting position is a circle having a diameter of about 5 mm. It shall be a shape. In this case, the imaging unit 50 as a position detection device needs to be able to acquire image information that can detect the position with an accuracy sufficient to identify the position of a circle having a diameter of 5 mm on the irradiated region PLa. There is.

  Hereinafter, a specific configuration example (specific specification) for image projection by an example projector will be described with reference to FIG. 4 and the like. First, with reference to FIGS. 4A and 4B, the degree of ultra-short focus proximity projection of the projector 100 will be described. As shown in FIG. 4A, the slow ratio in the projector is expressed by f1 / HS, for example, by the illustrated projection distance f1 and the horizontal size HS of the irradiated area PLa. In this example, the slow ratio is about 0.27. Specifically, it is assumed that the projection distance f1 is 441 mm, and the size of the irradiated area PLa that defines the value of the horizontal size HS is 70 inches (aspect ratio 16:10) (that is, the projector 100 is 70 Inch image). As shown in FIG. 4B, in this case, the projection angle of the projection light PL to each point on the peripheral side of the irradiated region PLa is shown. In this example, ultra-short focus proximity projection is performed according to the specific specifications as described above.

  FIG. 5 is a diagram illustrating the position of the imaging unit 50 and the size of the imaging range in the image projection of the specific example. FIG. 5 shows the relationship between the irradiated region PLa and the camera position Pa of the camera that constitutes the imaging unit 50. In FIG. 5, the left side is a diagram showing dimensions with respect to the positional relationship seen from the front side, and the right side is a diagram showing dimensions with respect to the positional relationship seen from the side (lateral) side. Here, as shown in FIG. 5, the camera position Pa is at the upper left of the irradiated region PLa, and is, for example, about 30 cm away from the projection position of the projection light PL on the left side in the horizontal direction. In this case, from the camera position Pa, the position SP on the lower right side of the irradiated area PLa is the most peripheral side in imaging. In other words, it is necessary to reliably detect the light emission position of the pen 70 or the like at that location.

  As in the specific configuration example shown above, in the case of ultra-short focus proximity projection, and particularly when the angle of view in the imaging unit is secured by a fisheye lens, the image of the detection location is distorted and becomes too small, or accompanying this May cause erroneous detection or non-detection, that is, the accuracy of position detection may be reduced. In order to suppress this, in the present embodiment, the position of the image sensor 40, which is a rectangular sensor unit, is inclined with respect to the rectangular projection image (projection screen) in the irradiated region PLa, thereby improving the position detection accuracy. To avoid such a situation.

  Hereinafter, with reference to FIG. 6A and the like, the position of each unit of the projector 100 in the present embodiment with respect to the projection image will be described, and in particular, the inclined arrangement of the image sensor 40 will be described. 6A to 6C are diagrams illustrating the positional relationship between each unit of the projector 100 and the projected image, the state of the image on the sensor imaged by the imaging unit 50, and the image capturing unit 50. 2 illustrates a part of an image on the imaging element (sensor) 40. On the other hand, FIG. 7A-7C is a figure of one comparative example, and is a figure corresponding to FIG. 6A-6C of this embodiment. As is apparent from a comparison between FIG. 6A and FIG. 7A corresponding thereto, in the present embodiment, the rectangular imaging device 40 is disposed so as to be inclined with respect to the projection image (projection screen) shown as the rectangular irradiated region PLa. In contrast, the comparative example shown in FIGS. 7A to 7C is different in that the imaging element 40 is not inclined.

  Hereinafter, returning to FIG. 6A and the like, an example according to the present embodiment will be described in more detail. FIG. 6A is a front view conceptually showing the positional relationship between each part of the projector 100 and the projection image (projection screen) indicated by the irradiated region PLa, as described above. As illustrated and as described above, the projector 100 includes a projector main body 100p that forms a rectangular projection screen in the irradiated area PLa, and a projection image formed in the irradiated area PLa by the projector main body 100p. And an imaging unit 50 that images (projection screen). The imaging unit 50 is arranged on the left side of the projector main body 100p (more specifically, the position corresponding to the camera position Pa in FIG. 5). The imaging unit 50 includes a fish-eye lens 30 and an imaging element 40 that is a rectangular sensor unit that receives light through the fish-eye lens 30. Here, in the drawing, projection light is emitted from the center of the projector main body 100p, and a projection image (projection screen) is formed in a rectangular irradiated region PLa that is symmetrical with respect to the projector main body 100p on the front. To do. On the other hand, as illustrated, the rectangular imaging element 40 in the imaging unit 50 is inclined with respect to the area of the rectangular projection image (projection screen) indicated by the irradiated area PLa. In other words, the rectangular frame 40f with the periphery of the image sensor 40 is bordered, and the irradiated region PLa is bordered (that is, the projection image (projection screen) is bordered). While the sides extend along the horizontal direction and the vertical direction (X direction and Y direction), each side of the rectangular frame 40f extends along a direction inclined from the horizontal direction and the vertical direction. In other words, when the rectangular frame PLf is used as a reference, the rectangular frame 40f is inclined (or Z-axis rotated) so as to be rotated right by a predetermined angle with respect to the rectangular frame PLf. Here, as described with reference to FIG. 5, the imaging unit 50 (camera position Pa) is located on the left side of the projector main body 100p in the drawing. Therefore, in order to perform highly accurate position detection in the entire irradiated region PLa, the lower right position SP (hereinafter also referred to as an evaluation point) that is the farthest from the imaging unit 50 in the irradiated region PLa. The accuracy of position detection is considered to be the most problematic. In the present embodiment, as described above, by tilting the image sensor 40 by a predetermined angle, the entire irradiated area PLa including the position SP that is the evaluation point is projected as large as possible within the sensor area of the image sensor 40. This enables position detection with high accuracy.

  FIG. 6B shows an image taken by the imaging unit 50 (camera) at the above-described position (corresponding to the camera position Pa in FIG. 5), that is, on the imaging element 40 that is a light receiving sensor built in the imaging unit 50. It is a figure which shows the mode of image PI of. In this case, since the captured image is inverted vertically and horizontally, the image on the lower right of the screen SC comes to the upper left in the image on the sensor. Accordingly, in the illustrated image PI, the image point SPi at the upper left corner of the video image PLi corresponding to the irradiated region PLa on the screen SC corresponds to the position (evaluation point) SP in FIG. 6A. That is, it is considered that the image point SPi and its vicinity in the region of the video image PLi are the most distorted and the most difficult to detect the indicator.

  Here, as a premise, in order to be able to image the entire irradiated area PLa on the screen SC, in the imaging element 40, the video image PLi is an active area AE that is an effective imaging range in the area SE on the sensor. It needs to be within. In the example here, the size of the active area AE is 4.48 mm × 3.2 mm.

  Further, as shown in the figure, the video image PLi that reflects the irradiated area PLa that was originally a rectangular area is obtained by distorting the fish-eye lens 30. For this reason, as shown in the figure, the shape of the video image PLi is not rectangular but distorted. Furthermore, the imaging unit 50 is disposed at a position off the left side from the center of the projector 100. For this reason, the shape of the video image PLi is not symmetrical. If an image (image portion) having such a shape is taken in without tilting the imaging device 40, for example, as shown in FIG. 7B of the comparative example, the longest curved portion LL1 is within the range of the rectangular horizontal (horizontal) direction. Therefore, the entire image of the video image PLi must be reduced so as to be within the range. On the other hand, in the present embodiment, by tilting the imaging element 40 by a predetermined angle corresponding to the shape of the video image PLi, for example, the longest curved portion LL1 can be accommodated in an oblique direction as shown in FIG. 6B. It will be good. Therefore, when the image sensor 40 in FIG. 6B has the same size as the image sensor 40 in FIG. 7B (eg, 4.48 mm × 3.2 mm), the image sensor 40 in FIG. 6B is larger than the video image PLi. Thus, the image point SPi and its vicinity can be projected more greatly. However, as described above, in the imaging device 40 in FIG. 6B, the entire video image PLi needs to be accommodated in the active area AE. That is, for the video image PLi, not only the curved portion LL1, but also other curved portions, points corresponding to the four corners of the irradiated region PLa, and the like must be within the active area AE. In the case of the above-described specific configuration example, the inclination angle of the image sensor 40 for projecting the video image PLi to the maximum while displaying the entire image is 18.2 °. In addition, the focal length f of the imaging unit 50 (camera) at this time was f = 2.31.

FIG. 6C shows an image GG displayed at the image point SPi corresponding to the position SP when a circle having a diameter of 5 mm assumed to be a light emitting point is projected at the position (evaluation point) SP in FIG. 6A. . For this reason, as illustrated, the image GG has an elliptical shape in which a circle is distorted. In the case of the above specific configuration example, the area of the image GG on the image sensor 40 was 14.1 μm ² .

7A to 7C are comparative examples of the present embodiment, as described above, and are examples of the case where the image sensor 40 is not tilted (when the tilt angle of the image sensor 40 is 0 °). Note that a specific configuration example (specific specification) is the same as that shown in the present embodiment. That is, it is assumed that the imaging unit 50 includes the fisheye lens 30 (equal distance projection method) and the imaging element 40 (active area AE is 4.48 mm × 3.2 mm) equivalent to the case of the present embodiment. However, the focal length f of the image sensor 40 is different from the viewpoint that the entire video image PLi needs to be accommodated in the active area AE. In the comparative example having the configuration illustrated in FIG. 7A, the focal length f of the imaging unit 50 (camera) is f = 2.18 in the imaging of the image PI illustrated in FIG. 7B. That is, it can be seen that the focal length f is smaller and the video image PLi is smaller than in the case shown in FIG. 6B. Further, the area of the image GG on the image sensor 40 shown in FIG. 7C was 12.6 μm ² . That is, it can be seen that the video image PLi (image point SPi) is smaller than that of the present embodiment. In this case, in particular, the possibility of false detection and non-detection at the image point SPi and its vicinity increases. In contrast, in the present embodiment, by tilting the image sensor 40 with respect to the rectangular projection image, each position of the video image PLi corresponding to the projection area (projection image) can be projected more greatly. The position detection accuracy can be improved.

  In addition, regarding the arrangement of the image pickup device 40 as described above, for example, the matters considered with reference to FIG. 6A can be grasped in relation to the projector main body 100p. For example, the projector main body 100p is assumed to have a rectangular liquid crystal panel LC arranged in the center as shown in the figure, and further, the projection light is projected by projecting the modulated light light modulated in the liquid crystal panel LC from the front. Suppose that it is to be formed. In this case, the image sensor 40 is inclined at a predetermined angle with respect to the rectangular liquid crystal panel LC. In addition, the above is an example, when a mirror etc. is arrange | positioned in an optical path, and the position of the image pick-up element 40 and liquid crystal panel LC differs from the above, or the projector main-body part 100p projects an image by systems other than a liquid crystal panel. Even when it is performed, the same configuration as described above can be employed in the relationship between the formed projection image and the imaging element.

  Hereinafter, with reference to FIG. 8, a description will be given of calibration, which is an alignment process that is a prerequisite for enabling interactive image projection. FIG. 8 shows how the pattern image at the time of calibration is projected in order to perform the above-described calibration processing among the image projections by the projector main body 100p. In the present embodiment, first, a pattern image PT indicating a range of an image displayed on the screen SC by image projection (projection) by the projector main body 100p is displayed in the visible light wavelength band included in the projection light PL that is image light here. It is assumed that projection is performed with pattern image light GL composed of light in the green wavelength band. By receiving a part of the component of the pattern image light GL in the imaging unit 50, image information related to the pattern image PT is acquired, and the image projection position is specified based on this information. Specifically, first, the imaging unit 50 transmits image information of the captured pattern image PT to the projector main body 100p. Next, the projector main body 100p associates the information of the pattern image PT acquired by the imaging unit 50 with the information of the pixel matrix in light modulation. That is, each position on the light receiving sensor of the pattern image PT imaged by the imaging unit 50 is associated with each pixel matrix position in the light modulation of the projector main body 100p, that is, a position on the projected image. For example, the association may be performed in units of pixels (for example, a corresponding table may be created). For example, by defining a function to be associated, the association processing may be performed.

  As described above, the projector main body 100p performs calibration (alignment) by associating the image projection position based on the information of the pattern image PT acquired by the imaging unit 50 with the position of the light modulation pixel. Yes. After calibration, it is possible to specify the indicated position by an indicator such as the light emission position of the pen 70 detected by the imaging unit 50 based on the association in the calibration, and interactive image projection reflecting this can be performed. It becomes.

  Hereinafter, a modification of the present embodiment will be described with reference to FIG. This modification is the same as the above example except for the direction in which the image sensor 40 is tilted, and thus the entire description is omitted. 9A to 9C are diagrams corresponding to FIGS. 6A to 6C. That is, FIGS. 9A to 9C illustrate the positional relationship between each unit of the projector 100 and the projection image, the state of the image on the sensor imaged by the imaging unit 50, and the image captured by the imaging unit 50. A part of the image on the image sensor (sensor) 40 is illustrated.

  In the above example, as shown in FIG. 6A and the like, the rectangular imaging element 40 in the imaging unit 50 is set at a predetermined angle (18.2 °) with respect to the area of the rectangular projection image (projection screen) indicated by the irradiated area PLa. ) Only inclines so as to be rotated to the right. On the other hand, in this modification, as shown in FIG. 9A and the like, the image sensor 40 is tilted so as to be rotated left by a predetermined angle.

  As shown in FIG. 9B, the tilt angle of the image sensor 40 for projecting the video image PLi within the active area AE and displaying the largest image as a whole is 27.0 ° in the case of the above specific configuration example. . In addition, the focal length f of the imaging unit 50 (camera) at this time was f = 2.32.

FIG. 9C shows an image GG displayed at the image point SPi corresponding to the position SP when a circle having a diameter of 5 mm assumed to be a light emitting point is projected at the position (evaluation point) SP in FIG. 9A. . For this reason, as illustrated, the image GG has an elliptical shape in which a circle is distorted. In the case of the above specific configuration example, the area of the image GG on the image sensor 40 is 14.2 μm ² .

  In the case of the above specific configuration example, the size of the video image PLi is slightly better in the case of left rotation in terms of the focal length f and the area of the image GG in the above example and the present modification, but is almost unchanged. The performance was almost equivalent. In other words, there was not much difference depending on the direction of tilt. However, when the configuration example (specification) changes, a difference may occur depending on the tilting direction. In such a case, a more suitable one may be selected.

  As described above, also in this modification, it is possible to project each position of the video image PLi corresponding to the projection region (projection image) larger by tilting the imaging element 40 with respect to the rectangular projection image. Thus, the position detection accuracy can be improved.

  As described above, in the projector system 500 according to the present embodiment, by applying the fisheye lens 30 in the imaging unit 50, the image of the projection area captured by using the fisheye lens 30 is distorted while enabling a wide detection range to be imaged. However, by tilting the image sensor 40 as a rectangular sensor unit, the image of the irradiated area (projection area) PLa can be expanded to the full area of the image sensor 40, that is, each position can be projected greatly. it can. Thereby, false detection and non-detection can be suppressed and position detection accuracy can be improved.

[Second Embodiment]
Hereinafter, a second embodiment obtained by modifying the first embodiment will be described with reference to FIG. Note that the projector system according to the present embodiment has the same configuration as that of the first embodiment except for the projection conditions of the fisheye lens employed in the imaging unit, and thus detailed description of the entire projector system is omitted. A specific configuration example (specific specification) is also the same as that shown in the first embodiment.

  10A to 10C show the positional relationship between each part of the projector and the projection image, the state of the image on the sensor imaged by the imaging unit, and the image sensor (sensor) imaged by the imaging unit. A part of the upper image is illustrated. That is, FIGS. 10A to 10C are diagrams corresponding to FIGS. 6A to 6C in the first embodiment.

In the present embodiment, as the fish-eye lens 130 in the imaging unit 150 in the projector 200, a stereoscopic projection method defined by the following expression is adopted.
y = 2f · tan (θ / 2)
Here, the focal length is f, the half field angle (or simply the field angle) is θ, and the image height is y.
In this case, compared to the equidistant projection method applied in the first embodiment, it is possible to increase the angle of view while suppressing the occurrence of distortion (compression) in the captured image, particularly on the peripheral side. That is, a sufficiently wide detection range can be secured by expanding the imaging range.

  As shown in FIG. 10A and the like, in the present embodiment, the image sensor 140 is tilted so as to be rotated to the right by a predetermined angle with respect to the area of the rectangular projection image (projection screen) indicated by the irradiated area PLa. I am letting.

  Further, as shown in FIG. 10B, the inclination angle of the image sensor 140 for projecting the video image PLi within the active area AE to the largest extent is 17.8 ° in the case of the above specific configuration example. there were. In addition, the focal length f of the imaging unit 150 (camera) at this time was f = 2.08.

Here, it is compared with the case where the image sensor 140 is not tilted (when the tilt angle of the image sensor 140 is 0 °). For example, as described above, the focal length f in this embodiment is f = 2.08. On the other hand, the focal length f when the image sensor 140 is not tilted was f = 1.98. Similarly to the first embodiment, when a circle having a diameter of 5 mm, which is assumed to be a light emitting point, is displayed at the position (evaluation point) SP in FIG. 10A, it is displayed at the image point SPi corresponding to the position SP. The area of the image was 18.4 μm ² . On the other hand, when the image sensor 140 is not tilted, the area of the corresponding image is 16.6 μm ² . That is, in the present embodiment, the video image PLi (image point SPi) is larger than in the case where the image sensor 140 is not tilted, and it can be said that the position detection accuracy can be increased in the present embodiment.

  Hereinafter, a modification of the present embodiment will be described with reference to FIG. As shown in FIG. 11A, the present modification is different from the above example in that the image sensor 140 is tilted so as to be rotated left by a predetermined angle.

  In the present modification, as shown in FIG. 11B, the inclination angle of the image sensor 140 for displaying the entire image image PLi within the active area AE most greatly is 26. It was 4 °. In addition, the focal length f of the imaging unit 150 (camera) at this time was f = 2.08.

Furthermore, when a circle having a diameter of 5 mm assumed to be a light emitting point is projected at the position (evaluation point) SP in FIG. 11A, the area of the image displayed at the image point SPi corresponding to the position SP is 18.4 μm. ² .

  That is, in the case of the specific configuration example in the present embodiment, no difference depending on the tilting direction was observed.

  As described above, also in the present embodiment, by tilting the image sensor with respect to the rectangular projection image, each position of the video image corresponding to the projection region (projection image) can be displayed larger, The position detection accuracy can be improved.

[Third Embodiment]
Hereinafter, a third embodiment obtained by modifying the first embodiment will be described with reference to FIG. Note that the projector system according to the present embodiment includes a plurality of (two or more) cameras as the imaging unit, and captures the indicator as a three-dimensional shape in detection of the indication position by the indicator. This is different from the first embodiment or the like in that (interactive can be realized without requiring infrared light emission by a pen). However, since the calibration is the same as that in the first embodiment except that it is individually performed in a plurality of cameras, description thereof is omitted. In the following description, the same reference numerals as those in the first embodiment and the like have the same functions and the description thereof is omitted.

  Hereinafter, the projector system 600 of the present embodiment will be described with reference to FIG. The projector system 600 includes a projector 300 that projects projection light PL that is image light (oblique projection) and performs image projection by ultra short focus proximity projection. Note that, in addition to the projector 300, for example, a PC or the like can be connected as in the case of the first embodiment. The projector 100 includes a projector main body 100p and an imaging unit 250.

  The imaging unit 250 includes two (plural) cameras 250a and 250b that are spaced apart. The cameras 250a and 250b have a pair configuration of the same standard, and are arranged at positions symmetrical with respect to the projection position of the projection light PL by the projector main body 100p in a direction intersecting the projection direction of the projection light PL. That is, the cameras 250a and 250b are a pair of cameras that are provided apart from each other in the direction intersecting the emission direction of the projection light PL that is image light in the projector main body 100p. Each of the cameras 250a and 250b has the same structure as the camera constituting the imaging unit 50 (see FIG. 1 and the like) shown in the first embodiment. That is, it has fish-eye lenses 230a and 230b (see FIG. 13 and the like) and imaging elements 240a and 240b (see FIG. 13 and the like) which are rectangular sensor units, respectively, and each of the imaging elements 240a and 240b has a projected image (projection). The screen). By including the plurality of cameras 250a and 250b (stereo cameras) as described above, the projector 300 can acquire parallax information (or stereo images). That is, more advanced position detection by stereoscopic vision is possible. The projector control unit CT (see FIG. 2) obtains the positional information of the indicator OB (such as the user's fingertip as shown in the figure) OB detected by the parallax information based on the image information acquired by imaging with the cameras 250a and 250b. The reflected image is projected by the image projection unit 90 (see FIG. 2).

  Hereinafter, the imaging ranges of the cameras 250a and 250b constituting the imaging unit 250 will be described with reference to FIG. As described above, the cameras 250a and 250b include fish-eye lenses 230a and 230b and imaging elements 240a and 240b, respectively. In FIG. 13, only one camera is illustrated and described because of the symmetry between the camera 250a and the camera 250b, and the description of the other is omitted. As shown in the figure, also in the present embodiment, the optical axis AX of the camera 250b (or the camera 250a) is not perpendicular to the screen SC that is the irradiated surface of the projector main body 100p, but is slightly inclined downward. Yes. That is, the cameras 250a and 250b constituting the image capturing unit 50 perform image capturing with a tilt as necessary. Here, as an example, the tilt angle α = 10 °.

  In the present embodiment, the indicator (fingertip) OB, which is a detection target, can be detected three-dimensionally using parallax by the two cameras 250a and 250b. That is, it is necessary to obtain information for capturing a user's finger touching the screen SC and capturing it as a three-dimensional shape having a depth. For this reason, imaging is performed so as to include a three-dimensional region including the irradiated region PLa in addition to the irradiated region PLa that is a projection region on the screen SC. In the present embodiment, as an example, as shown in FIG. 14, a three-dimensional area CD that is an imaging range is a range from the screen SC to a range separated by a distance d in the vertical direction (depth direction). Here, the distance d is set to 160 mm (16 cm) so that an image from the tip of the finger to the wrist can be captured. In this case, as shown in FIG. 14, the three-dimensional area CD is a rectangular parallelepiped area having the irradiated area PLa as the bottom surface and the distance d as the thickness. Therefore, the imaging range of the imaging unit 250 (cameras 250a and 250b) needs to be further expanded compared to the case where only the irradiated region PLa is provided, and in particular, it is necessary to widen the angle of view.

  FIG. 15 is a diagram illustrating the position of the camera 250b configuring the imaging unit 250 and the size of the imaging range in the image projection of the specific example. FIG. 15 is a diagram corresponding to FIG. 5 in the first embodiment. The other camera 250a in the image pickup unit 250 can be considered in the same way only by reversing the left and right positions, and thus illustration and description thereof are omitted. In FIG. 15, the left side is a diagram showing dimensions with respect to the positional relationship seen from the front side, and the right side is a diagram showing dimensions with respect to the positional relationship seen from the side (lateral) side. The camera position Pa of the camera 250b is at the upper left of the irradiated area PLa, and is, for example, about 30 cm away from the projection position of the projection light PL on the left side in the horizontal direction.

  As shown in the figure, when the region on the upper end surface of the three-dimensional region CD, which is the detection range, is a detection region DD1, the region on the screen SC corresponding to this is a region DLa indicated by a broken line. That is, in order to enable detection in the detection area DD1, the imaging unit 50 needs to be able to image up to a range that is converted into the area DLa on the screen SC. Further, as the value of the distance d increases (the detection area DD1 is far from the irradiated area PLa), the area DLa increases rapidly. This is because in this configuration, ultra-short focus proximity projection is performed. As described above, as the value of the distance d increases, the imaging unit 50 needs to have a wider angle of view.

  16A and 16B exemplify the positional relationship between each part of the projector 300 and the projection image in this embodiment and the state of the image on the sensor imaged by the imaging unit 250 (cameras 250a and 250b). That is, FIGS. 16A and 16B are diagrams corresponding to FIGS. 6A and 6B in the first embodiment.

In the present embodiment, as the fisheye lenses 230a and 230b in the imaging unit 250 in the projector 300, an equidistant projection method defined by the following equation is adopted.
y = f · θ
Here, the focal length is f, the half field angle (or simply the field angle) is θ, and the image height is y.

  In FIG. 16A and the like, only the camera 250b of the imaging unit 250 is displayed because of left-right symmetry, and the camera 250a is omitted. The arrangement of the camera 250a and the camera 250b will be described later with reference to FIG.

  As shown in FIG. 16A and the like, in this embodiment, the image sensor 240b is tilted to the right by a predetermined angle with respect to the rectangular projection image (projection screen) area indicated by the irradiated area PLa. I am letting.

  Here, in the image PI shown in FIG. 16B, the video image DDi is an image corresponding to the detection region DD1 in FIG. In the present embodiment, as described above, it is necessary to detect the three-dimensional area CD shown in FIG. Therefore, in order to make the stereoscopic area CD a detectable range, the camera 250b needs to fit not only the video image PLi but also the video image DDi within the active area AE. Under such conditions, the inclination angle of the image sensor 240b for displaying the entire image image PLi, DDi in the active area AE while displaying the largest image is 20.9 ° in the case of the above specific configuration example. there were. At this time, the focal length f of the camera 250b was f = 2.03.

  Although details are omitted, as compared with the verification result when the image sensor 240b is not tilted (when the tilt angle of the image sensor 240b is 0 °) as a comparative example with respect to the present embodiment, the present embodiment is more suitable. I know it ’s excellent. Note that, as in the present embodiment, by tilting the image sensor, the image can be enlarged as compared with the case where the image sensor is not tilted, so that the positional accuracy can be increased.

  Hereinafter, among the arrangements of the camera 250a and the camera 250b, the relationship between the image sensor 240a and the image sensor 240b will be described with reference to FIG. As described above, the camera 250a and the camera 250b are arranged symmetrically with the projector body 100p as the center. From the left-right symmetry, it is desirable that the video images PLi and DDi in the image sensor 240a are horizontally reversed from those of the image sensor 240b shown in FIG. 16B. That is, as shown in FIG. 17, it is desirable that the tilt angles between the image sensor 240a and the image sensor 240b are also reversed left and right. Specifically, in the above description, the image sensor 240a is tilted so as to be rotated to the right by a predetermined angle (20.9 °). .9 °) should be tilted so that it is rotated counterclockwise. As described above, the image sensors 240a and 240b provided in the pair of cameras 250a and 250b are inclined at different angles in the same size. Thereby, in each camera 250a, 250b, the irradiated area PLa can be projected larger according to the installation position.

  Hereinafter, a modification of the present embodiment will be described with reference to FIG. As shown in FIG. 18A, the present modification is different from the above example in that the image sensor 240b is tilted so as to be rotated left by a predetermined angle.

  In this modification, as shown in FIG. 18B, the tilt angle of the image sensor 240b for displaying the video image PLi, DDi within the active area AE while displaying the largest image is the case of the above specific configuration example. 30.1 °. Further, the focal length f of the camera 250b at this time was f = 2.06.

  In the case of the above specific configuration example, the size of the video image PLi in the above example and the present modification is slightly better in the case of left rotation in terms of the focal length f, but is almost unchanged and substantially the same. It was performance. In other words, there was not much difference depending on the direction of tilt.

  FIG. 19 is a diagram illustrating a relationship between the image sensor 240a and the image sensor 240b in the arrangement of the camera 250a and the camera 250b in the present modification. Also in this modification, it is desirable that the tilt angle between the image sensor 240a and the image sensor 240b be reversed left and right due to left-right symmetry. In other words, by tilting the image pickup devices 240a and 240b at different angles in the same size, the irradiated areas PLa can be projected more greatly on the cameras 250a and 250b depending on the installation position.

  As described above, also in the present embodiment, by tilting the image sensor with respect to the rectangular projection image, each position of the video image corresponding to the projection region (projection image) can be displayed larger, The position detection accuracy can be improved.

[Fourth Embodiment]
Hereinafter, with reference to FIG. 20 etc., 4th Embodiment which deform | transformed 3rd Embodiment is described. Note that the projector system according to the present embodiment has the same configuration as that of the third embodiment except for the projection condition of the fisheye lens employed in the imaging unit, and thus a detailed description of the entire projector system is omitted. In particular, one of the pair of cameras constituting the imaging unit is omitted. A specific configuration example (specific specification) is also the same as that shown in the third embodiment.

  20A and 20B show the positional relationship between each part of the projector and the projected image, the state of the image on the sensor imaged by the imaging unit, and the image sensor (sensor) imaged by the imaging unit. A part of the upper image is illustrated. That is, FIGS. 20A and 20B correspond to FIGS. 16A and 16B in the third embodiment.

In the present embodiment, as the fish-eye lens 330b in the imaging unit 350 in the projector 400, a stereoscopic projection method defined by the following equation is adopted.
y = 2f · tan (θ / 2)
Here, the focal length is f, the half field angle (or simply the field angle) is θ, and the image height is y.

  In FIG. 20A and the like, only the camera 350b of the imaging unit 350 is displayed because of left-right symmetry, and the other camera is not shown.

  As shown in FIG. 20A and the like, in this embodiment, the image sensor 340b is tilted so as to be rotated to the right by a predetermined angle with respect to the rectangular projection image (projection screen) area indicated by the irradiated area PLa. I am letting.

  Further, as shown in FIG. 20B, the inclination angle of the image sensor 340b for displaying the entire image image PLi, DDi within the active area AE most greatly is 20.7 in the case of the above specific configuration example. °. At this time, the focal length f of the camera 350b was f = 1.78.

  In addition to the above, especially in the case of the three-dimensional projection method, it can be seen that the width (finger width) at each position does not change even if the angle (posture) of the indicator OB changes and takes a constant value. Yes.

  Although details are omitted, as compared with the verification result when the image sensor 340b is not tilted (when the tilt angle of the image sensor 340b is 0 °) as a comparative example with respect to the present embodiment, the present embodiment is more suitable. I know it ’s excellent. Note that, as in the present embodiment, by tilting the image sensor, the image can be enlarged as compared with the case where the image sensor is not tilted, so that the positional accuracy can be increased.

  Hereinafter, a modification of the present embodiment will be described with reference to FIG. As shown in FIG. 21A, the present modification is different from the above example in that the image sensor 340b is inclined so as to be rotated left by a predetermined angle.

  In this modification, as shown in FIG. 21B, the inclination angle of the image sensor 340b for displaying the entire image image PLi, DDi in the active area AE while displaying the largest image is as shown in FIG. 21B. 29.7 °. The focal length f of the camera 350b at this time was f = 1.79.

  In the case of the above specific configuration example, the size of the video image PLi in the above example and the present modification is slightly better in the case of left rotation in terms of the focal length f, but is almost unchanged and substantially the same. It was performance. In other words, there was not much difference depending on the direction of tilt.

  As described above, also in the present embodiment, by tilting the image sensor with respect to the rectangular projection image, each position of the video image corresponding to the projection region (projection image) can be displayed larger, The position detection accuracy can be improved.

[Others]
The present invention is not limited to the above embodiments, and can be implemented in various modes without departing from the scope of the invention.

  In the above description, a specific configuration example (specific specification) is described. However, this is merely an example, and various various cases can be considered for the configuration example.

  For example, in the above, an irradiation area (projection area) of 70 inches is formed, but it is conceivable that the irradiation area is 70 inches or more (for example, about 70 inches to 120 inches). Further, regarding the proximity projection, the slow ratio is set to about 0.27, but may be configured to be 0.27 or less, for example.

  For example, in the above description, it is assumed that the camera position in the projector 100 is about 30 cm away from the projection position of the projection light PL in the horizontal direction, but various cases can be considered for the camera position. The tilt angle of the image sensor is also different. It is also conceivable to set different projection distances in the projector.

  Further, among the above, for example, in the third embodiment, the distance d is set to 160 mm (16 cm) in the depth direction of the three-dimensional area CD, but it may be set to 16 cm or more.

  In the third embodiment, for example, the indicator can be regarded as a three-dimensional shape based on the parallax information based on the image information acquired from the pair of cameras 250 a and 250 b configuring the imaging unit 250. At this time, the image information from each camera 250a, 250b is subjected to image processing based on the association in the calibration. This image processing may be performed individually for each piece of image information from each camera 250a, 250b. However, the pair of cameras 250a, 250b has a left-right symmetry. This processing method may be reversed left and right and diverted to the other. In this case, the two image processes may be performed collectively.

  In the above description, the projector control unit CT and the PC that can be connected to the projector 100 are described as performing various types of processing. However, various types of processing can be performed, for example, an imaging unit. It is conceivable that processing such as specifying an image projection position based on the information of the projection light PL acquired at 50 and a position based on the detection light DL detected by the imaging unit 50 is performed on the PC side. In other words, the image projection position in the projector control unit CT and the indication position by the indicator are specified, and part or all of the image projection control based on the specified positional relationship is performed by an external connection device such as a PC (PC etc. The projector controller may be configured). On the contrary, it is possible to adopt a configuration (PC-less) in which all processing is performed in the projector control unit CT without connecting a PC or the like.

  In the above description, in the calibration, the pattern image PT is projected by the pattern image light GL composed of light in the green wavelength band. However, the projection of the pattern image PT is not limited to light in the green wavelength band. It is also conceivable to use light in other wavelength bands.

  In the above description, illustration and detailed description of the light source, the light modulation device, the projection optical system, and the like constituting the projector main body 100p are omitted, but various aspects are applicable. In addition to the above, for example, a high-pressure mercury lamp can be used and separated into three color light sources. Regarding the light modulation device, in addition to the above, for example, various modes such as a light modulation device using a color filter for a liquid crystal panel, a reflection type liquid crystal panel, a digital micromirror device, or the like can be considered.

  In addition, when comparing equidistant projection and stereoscopic projection, it is generally considered that stereoscopic projection has better performance, but is difficult to design and manufacture and tends to increase cost. Therefore, a method that does not require a relatively high detection accuracy, such as detecting the position of the light emitting point of the pen tip, employs equidistant projection, and detects the position by detecting the shape of a pointer such as a finger. It is conceivable that a method that requires accuracy adopts a stereoscopic projection.

  DESCRIPTION OF SYMBOLS 30 ... Fisheye lens, 40 ... Image sensor (sensor part), 40f ... Rectangular frame, 50 ... Imaging part, 70 ... Pen, 82 ... Communication part, 90 ... Image projection part, 100 ... Projector, 100p ... Projector main-body part, 130 ... Fisheye lens, 140 ... imaging element (sensor part), 150 ... imaging part, 200 ... projector, 230a, 230b ... fisheye lens, 240a, 240b ... imaging element (sensor part), 250 ... imaging part, 250a, 250b ... camera, 300 ... Projector, 330b ... Fisheye lens, 340b ... Imaging device (sensor unit), 350 ... Imaging unit, 350a, 350b ... Camera, 400 ... Projector, 500 ... Projector system, 600 ... Projector system, AE ... Active area, AX ... Optical axis, CD ... three-dimensional domain, CT ... professional Projector control unit, d ... distance, DD1 ... detection region, DDi ... video image, DL ... detection light, DLa ... region, f ... focal length, f1 ... projection distance, GG ... image, GL ... pattern image light, HS ... horizontal Size, HU ... user, IL ... infrared light, LC ... liquid crystal panel, LL1 ... curve portion, Pa ... camera position, PI ... image, PL ... projection light, PLa ... irradiated area (projection area), PLf ... rectangular Frame, PLi ... Video image, PT ... Pattern image, SC ... Screen, SE ... Area, SP ... Position, SPi ... Image point, TP ... Tip, α ... Tilt angle

Claims (10)

A projector main body that projects image light obliquely;
An imaging unit that has a fisheye lens and a rectangular sensor unit that receives light through the fisheye lens, and that captures a projection area of image light from the projector body unit;
The rectangular sensor unit is tilted with respect to a rectangular projection image formed in the projection area by image light from the projector main body unit. The projector system according to claim 1, wherein the imaging unit includes an equidistant projection type lens as the fisheye lens. The projector system according to claim 1, wherein the imaging unit includes a stereoscopic projection type lens as the fisheye lens.   The projector system according to claim 1, wherein the imaging unit detects light in an infrared light wavelength band as detection light in a wavelength band other than the wavelength band of image light. The imaging unit according to any one of claims 1 to 3, wherein the three-dimensional region including a projection region of image light from the projector main body unit is imaged to detect an indicator existing in the three-dimensional region. The projector system described.   The projector system according to claim 1, wherein the imaging unit includes two or more cameras.   The imaging unit includes a pair of cameras provided as the two or more cameras spaced apart from each other in a direction intersecting an emission direction of image light from the projector main body, and the rectangles provided in the pair of cameras, respectively. The projector unit according to claim 1, wherein the sensor unit is inclined in different directions.   The projector system according to claim 1, wherein the imaging unit is tilted at a tilt angle within a range of 0 ° to 15 °.   An image projection position based on image light information acquired by the imaging unit and a position detected by the imaging unit are specified, and further provided is a projector control unit that controls image projection based on the specified positional relationship. Item 9. The projector system according to any one of Items 1 to 8.   The projector system according to claim 1, wherein the projector main body performs image projection that reflects information on a position detected by the imaging unit.

Images