JP2000004383A - Multidirectional image taking-in device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multidirectional image capture device which can obtain a screen viewed from multiple directions as a single image and which can comparatively easily specify the positional relation between an object and the image taking-in device for photographing the object. SOLUTION: This device is a rotating body, formed of a transparent material provided with a center light shielding face 1 and a center light-transmitting face 2, which face each other, peripheral light-transmitting faces 3 formed around the center light- proof face 1 and peripheral light-proof faces 4 formed around the center light- transmitting face 2. The peripheral light-proof faces 4 act as a reflection mirror capable of collecting incident light from the peripheral light-transmitting faces 3 to the center light-proof face 1 through the rotating body. The center light-proof face 1 acts as a reflection mirror, capable of collecting reflected light from the peripheral light shielding faces 4 to the center light-transmitting face 2 through the rotating body. The device is constituted of a panoramic image block 5, where a light- transmitting part 9 for passing the light passing through only the shaft part of the rotating body is installed at the center of the center light-proof face 1 and an image input means 6 for capturing the light emitted from the center light-transmitting face 2 of the panoramic image block 5, making it into an image signal and outputting it.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multidirectional image capturing apparatus using a panoramic image block for capturing a three-dimensional space at a wide angle and forming an annular image.

[0002]

2. Description of the Related Art At present, a method of acquiring a surface image of a subject using one or a plurality of cameras and inspecting the surface state of the subject by image processing such as comparison and collation is often used.

[0003]

However, when a single camera is used, an image acquisition step and an image processing step including an operation for changing a shooting location must be repeated many times. When changing the camera position,
There is a problem that the operation of rotating the subject is complicated, and when a plurality of cameras are used, there is a problem that the handling of the images acquired by each camera becomes complicated.

Accordingly, attention is paid to a panoramic image block capable of capturing the periphery of a photographed portion at a wide angle, and by using the panoramic image block, a wide range is acquired as one image, and a desired process for the image, for example, Considered performing comparison and collation collectively.

Incidentally, for example, a panoramic image block disclosed in Japanese Patent Publication No. 6-85019 has a central light-shielding surface and a central light-transmitting surface opposed to each other, and a peripheral light-transmitting surface formed around the central light-shielding surface. A rotating body made of a transparent material having a surface and a peripheral light-shielding surface formed around the central light-transmitting surface, wherein the peripheral light-shielding surface transmits incident light from the peripheral light-transmitting surface through the rotating body. A panoramic image that is a reflecting mirror that can pass through and be collected on a central light-shielding surface, and the central light-shielding surface is a reflecting mirror that can collect the reflected light from the peripheral light-shielding surface through the rotating body and collect it on the central light-transmitting surface. It is a block.

However, at the same time, since the panoramic image block has only a visual field in the radial direction, for example, when the panoramic image block is used to photograph the surface of one subject over a wide range, The positional relationship between the subject and the image capturing device that captures the subject (including the attitude control of the device. The same applies hereinafter) because the angle of view of the block, that is, the image only on the side is deformed annularly. ) Is difficult to specify, and once the positional relationship changes, it is extremely difficult to reproduce the original state. Therefore, regarding the configuration of the multi-directional image capturing device using the panoramic image block, it is necessary to consider such disadvantages as well.

[0007] The present invention has been made in view of the above-described circumstances, and a screen in which a subject is viewed from multiple directions can be obtained as one image by a single image obtaining step. It is an object of the present invention to provide a multi-directional image capturing device using a panoramic image block that can relatively easily specify the positional relationship between the image capturing device and the image capturing device that captures the image.

[0008]

In order to solve the above-mentioned problems, a multi-directional image capturing apparatus according to the present invention comprises a central light-shielding surface and a central light-transmitting surface opposed to each other, and a periphery of the central light-shielding surface. A rotating body made of a transparent material having a formed peripheral light-transmitting surface and a peripheral light-shielding surface formed around the central light-transmitting surface, wherein the peripheral light-shielding surface receives light from the peripheral light-transmitting surface; A reflecting mirror for passing light through the rotating body and collecting the light on a central light-shielding surface, wherein the central light-shielding surface is capable of collecting reflected light from the peripheral light-shielding surface through the rotating body and collecting the light on a central light-transmitting surface; Image input means for taking in light emitted from the central light-transmitting surface of the panoramic image block, converting the light into an image signal and outputting the image signal, and obtaining a side image of the subject from within the angle of view of the panoramic image block. Incident on the translucent surface of the panoramic image block That for those that are composed of a reflecting member.

The above-mentioned panoramic image block can be considered to be the same as that disclosed in the above-mentioned publication. Further, the orientation of the reflecting member may be set so that a side image of the subject is incident on the peripheral light-transmitting surface of the panoramic image block from the angle of view of the panoramic image block. The setting may be made so that the light enters the peripheral light-transmitting surface of the panoramic image block from within the angle of view of the block.
It should be noted that the side image here is not limited to an image viewed from the side of the periphery of the subject. For example, if the subject is a hollow body, the side image also includes an image of the inner surface viewed from the side. . For the purpose of capturing these face-to-face images and side images as one continuous image, it is necessary that the reflecting member has a continuous mirror surface facing the entire area of the peripheral light-transmitting surface of the panoramic image block. Becomes The face-to-face image refers to an image acquired from the front when the light-transmitting portion side is the front and the central light-transmitting surface side is the rear in the direction of the axis of the panoramic image block.

Further, a multi-directional image capturing device, which is designed to relatively easily specify the positional relationship between a subject and an image capturing device that captures the subject, has substantially the same configuration as that described above. In addition to the above, a light-transmitting portion is provided at the center of the central light-shielding surface for transmitting light passing only through the shaft portion of the rotating body.

The light incident on the peripheral light-transmitting surface is reflected by the peripheral light-shielding surface and the central light-shielding surface inside the rotating body (hereinafter, referred to as a normal route. The angle of incidence on the light surface is called the angle of view) and
The target exits through a route other than the regular route (hereinafter, referred to as an irregular route) and passes through the regular route at the target in the image input means, as a clear circular regular image, or In the case of an irregular route, an image is formed around the regular image as a relatively unclear circular irregular image.

In the entire area of the central light-shielding surface, a portion where light passing through the regular route is reflected is limited to the peripheral edge of the central light-shielding surface. Should be provided. The shaft portion refers to the vicinity of the center axis of the panoramic image block as the rotating body, and the passage of light passing only through the shaft portion of the rotating body refers to the central light shielding surface or the peripheral light shielding surface inside the rotating body. This means that light that enters from the light-transmitting portion of the central light-shielding surface and that exits from the central light-transmitting surface passes without being reflected, and does not mean that only the light is transmitted. For example, light that has entered the peripheral translucent surface from outside the angle of view is
It is also conceivable that the light is emitted from the light transmitting part.

The shaft portion sandwiched between the light transmitting portion and the central light transmitting surface often functions as a concave lens because the central light shielding surface is generally concave. On the other hand, in the normal route, an image is formed through reflection by a concave mirror and a convex mirror, and therefore, there is almost always a difference in the sharpness of an image formed on the same target. As described above, in order to correct the difference in the sharpness between the image passing only through the axis portion and the image passing through the normal route, only the light passing through the light transmitting portion is provided on the central light shielding surface of the panoramic image block. A lens to adjust the focal length,
In some cases, the user touches the panoramic image block while having a common axis. Note that the shape of the light transmitting portion is not particularly limited, but is preferably circular from the viewpoint of increasing the opening area. Further, a reflecting member may be set so that the face-to-face image of the subject is incident on the peripheral light transmitting surface of the panoramic image block from within the angle of view of the panoramic image block.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a multidirectional image capturing apparatus according to the present invention will be described below with reference to the drawings. FIG.
Is a first embodiment configured to acquire a side image of the subject 7 having a cylindrical shape. The multi-directional image capturing device includes a panoramic image block 5, image input means 6 for capturing light emitted from the central light transmitting surface 2 of the panoramic image block 5, converting the light into an image signal, and outputting the image signal, and a side image of a subject 7. And a reflecting member 8 for making the light incident on the peripheral light transmitting surface 3 of the panoramic image block 5 from within the angle of view of the panoramic image block 5.

The panoramic image block 5 includes a central light-shielding surface 1 and a central light-transmitting surface 2 opposed to each other, and the central light-shielding surface 1
And a peripheral light-shielding surface 4 formed around the central light-transmitting surface 2 and a rotating body made of a transparent material, wherein the peripheral light-shielding surface 4 is The concave mirror is a concave mirror capable of passing incident light from the peripheral light-transmitting surface 3 through the rotating body and collecting the light on the central light-shielding surface 1.
Is a convex mirror that can collect the reflected light from the central light transmitting surface 2 through the rotating body. That is, the peripheral light-shielding surface 4
Is a surface that protrudes in a curve, the central light-shielding surface 1 is a surface that is concave in a curve, and the remaining central light-transmitting surface 2 and peripheral light-transmitting surface 3
Are planes and curved surfaces, respectively.

The reflecting member 8 has a cylindrical shape, and its inner surface is a reflecting mirror having a series of continuous mirror surfaces facing the entire area of the peripheral light transmitting surface 3 of the panoramic image block 5. . Then, the reflector reflects the outer surface image of the subject 7,
The inclination angle is set so that the light is reflected toward the peripheral light transmitting surface 3 of the panoramic image block 5 and the outer side image is incident on the peripheral light transmitting surface 3 from within the angle of view. For example, as shown in FIG. 6, the diameter of the reflecting member 8 is set to be as large as possible so that the side of the subject 7 can be viewed from an angle as close to the side of the subject 7 as possible.
In some cases, the distance may be set so as to be as short as possible even when the distance between the object and the subject 7 is large.

On the other hand, as shown in FIG. 7, a multi-directional image capturing device configured to acquire an inner surface image of a subject 7 having a relatively large diameter uses an inner surface image of the subject 7 as the panoramic image block. The angle of inclination is set so that the light is reflected toward the peripheral light-transmitting surface 3 and the outer side image is incident on the peripheral light-transmitting surface 3 from within the angle of view. The diameter of the reflection member 8 is set to be as small as possible so as to be as long as possible even at the distance between the panoramic image block 5 and the subject 7.

In the above apparatus, the regular image 13 in which the outer surface or the inner surface of the subject 7 is deformed in a ring shape and which is relatively clear and the irregular image 14 in which a relatively unclear ring is formed are concentric. An image is formed as an image on the target 15 in the image input means 6, and after the image is converted into a signal, it is stored as image data in a memory or the like. Here, a series of operations from the imaging to the storage of the image data is referred to as image capture, and focus adjustment processing at the time of imaging and data processing such as storing the captured image as image data are performed by so-called micro-processing. This is performed by a control unit (not shown) using a computer.

FIGS. 2 to 4 show a second embodiment of the multi-directional screen capture device according to the present invention, wherein a light-transmitting portion 9 through which light can pass is provided at the center of the central light-shielding surface 2. This is an example in which a panoramic image block 5 is used. According to this example,
Light incident on the light transmitting portion 9 of the central light-shielding surface 1 from the opposite surface of the panoramic image block 5 is reflected from the central light-transmitting surface 2 without being reflected by the central light-shielding surface 1 or the peripheral light-shielding surface 4 inside the panoramic image block 5. Since the light is emitted, the shaft portion in the panoramic image block 5 functions as a general lens, and in addition to the image from the peripheral light-transmitting surface 3 captured in the first embodiment, a facing image 16 that is not deformed is shown in FIG. The image is formed inside the regular image 13 as shown in FIG.

In order to enable accurate positioning using the facing image 16 having a relatively small size, for example, in the case of inspecting the inner surface of the cylinder 17 as shown in FIG. 2, the center penetrates the cylinder 17. A laser beam of a small spot is stretched facing the light-transmitting portion 9 of the central light-shielding surface 1, and the panoramic image block 5 and the image input unit 6 are aligned so that the laser beam coincides with the axis 10 of the panoramic image block 5. There is a means for controlling the position and posture of the camera. This utilizes the fact that the spot position of the laser beam appearing on the target 15 of the image input means 6 differs depending on the difference in the incident angle of the laser beam transmitting portion 9. Note that the spot diameter of the laser beam may be appropriately determined according to the required positioning accuracy.

In order to more effectively use the face-to-face image that has entered from the light transmitting portion 9 and has passed through only the shaft portion, the focal length of the lens formed by the shaft portion must be adjusted according to the distance from the subject 7. It needs to be corrected. Ideally, it is ideally corrected in advance only by adjusting the curvature of each surface (hereinafter, referred to as a constituent surface) constituting the panoramic image block 5, but the angle of view, the direction of the angle of view, and the center transparency are adjusted according to the purpose. According to the fact that the emission angle from the light surface 2 is determined by adjusting the curvature of the constituent surface, both the regular image from the peripheral light transmitting surface 3 and the image in the facing direction from the light transmitting portion 9 are clear. It is very difficult to form an image on a target in a state.

Therefore, as a focus correcting means for the axial portion which does not affect the refraction and reflection of light in the panoramic image block 5, the panoramic image block 5 is provided with the panoramic image as shown in FIG. A means for arranging a lens 11 having a common axis 10 with the image block 5 adjacent to the light transmitting section 9 is adopted. The lens 11 to be arranged may be singular or plural, and the arrangement means may be such that the central light-shielding surface 2 and the lens 11 or the central light-shielding surface 2 and a plurality of lenses may be bonded together. It may be fixed in a separated state. By such means, the regular image 1
It is relatively easy to capture both the face 3 and the face-to-face image 16 in a clear state. For example, in the appearance inspection of a microcomputer chip or the like, the surface of the chip is bent together with the bent or missing terminals existing on the side of the chip. It is possible to inspect the quality of the applied marking at the same time. In addition, the inspection of the marking has an advantage that it also functions as a means for obtaining a reference position when controlling the position and orientation of the image capturing device in the appearance inspection process.

In any of the above embodiments,
As shown in FIG. 4, it is possible to further provide a reflection member 12 so that an image in the facing direction can be incident from a part of the angle of view on the central light shielding surface 1 side. By taking such measures,
In the first embodiment as well, it is possible to capture an image of the subject 7 in the front or facing direction. In the second embodiment, for example, the image capturing device can be inspected inside a sewer pipe. At the time of intrusion as an object, if the visual field for recognizing an object existing in the facing direction is insufficient, there is an advantage that the visual field can be supplemented.
The reflecting member 12 provided for such a purpose also has a cylindrical shape, like the reflecting member 8 for projecting the subject 7, and has an inner surface formed by a continuous mirror surface around the entire periphery of the panoramic image block 5. It is necessary to provide a reflector that captures the image in the facing direction, and at the same time, slightly sacrifices the field of view for checking the sides within a limited angle of view. The ratio between the region where the facing image of the peripheral light transmitting surface 3 is incident and the region where the side image is incident needs to be appropriately determined according to the application.

The shape of the reflecting members 8 and 12 is cylindrical, but one of which is conical, the central portion is bulged or depressed depending on the photographing direction, or a combination thereof. The shape may be adjusted. For example, as long as the reflecting member 8 shown in FIGS. 1 and 3, that is, the shape is such that the central portion is bulged and a concave mirror is formed on the inner surface thereof, it is limited. A necessary image can be projected as large as possible in the area of the regular image 13. For example, the reflection member 4 shown in FIG. 4, that is, a concave portion at the center and a convex mirror formed on the inner surface thereof If so, an image as wide as possible can be projected on a limited area of the regular image 13. 1 and 3, the surroundings of the subject 7 are insufficiently illuminated by the surroundings, and in most cases, illumination for illuminating the subject 7 is required. Means that a half mirror is used as a reflecting member of the reflecting member 8 for capturing and a reflecting member 12 for capturing an image in the facing direction, and the illumination light is applied to the facing direction or the subject 7 by passing the reflecting mirror from the back side to the front side. (See FIGS. 6 and 7) An appropriate illumination method may be appropriately selected.

[0025]

As described above, by using the multi-directional image capturing apparatus according to the present invention, it is possible to obtain a screen in which a subject is viewed from multiple directions as one image by a single image obtaining step. Further, if the multi-directional image capturing device according to claims 2 to 4 is used, the panoramic image block is
Even if the image obtained from the angle of view is deformed in a ring shape, the positional relationship between the subject and the image capturing device that captures the subject can be relatively easily specified, and even when the positional relationship changes. , The original positional relationship can be reproduced relatively easily. Furthermore, if the multi-directional image capturing device according to the fourth aspect is used, it is possible to secure various visual fields in the facing direction, thereby enabling various image controls.

Due to the above effects, the multi-directional image capturing device according to the present invention can be used as a self-propelled internal inspection device for tunnels and sewer pipes,
It can be used for a visual inspection device for semiconductors and electronic components, or an endoscope. And, in the internal inspection of the tunnel or the sewer pipe, since the image of the inner wall surface and the traveling direction image can be obtained at the same time, the visual field is widened, and the traveling direction can be easily specified. There are advantages described for the visual inspection of the microcomputer chip, especially in the field of endoscopes, by setting the shape of the panoramic image block to have a rear view, for example, by using a conventional endoscope. 4. The multi-directional image capturing device according to claim 3, wherein the back side of the intestinal fold which cannot be easily seen with a mirror can be seen, and the forward field of view and image clarity required for insertion of the endoscope. Can also be sufficiently secured.

[Brief description of the drawings]

FIG. 1 is a schematic view showing an example of the structure and operation of a multi-directional capture device according to the present invention.

FIG. 2 is a schematic view showing an example of the structure and operation of the multi-directional capture device according to the present invention.

FIG. 3 is a schematic view showing an example of the structure and operation of the multi-directional capture device according to the present invention.

FIG. 4 is a schematic view showing an example of the structure and operation of the multi-directional capture device according to the present invention.

FIG. 5 is a partially cutaway perspective view showing an example of the structure of the multi-directional capture device according to the present invention.

FIG. 6 is a schematic diagram showing an example of the operation of the multi-directional capture device according to the present invention.

FIG. 7 is a schematic diagram showing an example of the operation of the multi-directional capture device according to the present invention.

FIG. 8 is a schematic diagram illustrating an example of an image displayed on a target.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Central light-shielding surface 2 Central light-transmitting surface 3 Peripheral light-transmitting surface 4 Peripheral light-shielding surface 5 Panoramic image block 6 Image input means 7 Subject 8 Reflecting member 9 Light-transmitting part 10 Axis 11 Lens 12 Reflecting member

Claims (5)

[Claims] 1. A central light-shielding surface (1) and a central light-transmitting surface (2) opposed to each other; a peripheral light-transmitting surface (3) formed around the central light-shielding surface (1); A rotating body made of a transparent material having a peripheral light-shielding surface (4) formed around the surface (2), wherein the peripheral light-shielding surface (4) is incident light from the peripheral light-transmitting surface (3). Is a reflecting mirror that can pass through the rotating body and collect the light on the central light-shielding surface (1), and the central light-shielding surface (1) passes the reflected light from the peripheral light-shielding surface (3) through the rotating body to the center. The panoramic image block (5), which is a reflecting mirror that can be collected on the light-transmitting surface (2), and the light emitted from the central light-transmitting surface (2) of the panoramic image block (5) are captured, converted into an image signal, and output. An image input means (6) and a side image of a subject (7) are converted to the panoramic image block (5).
And a reflecting member (8) for entering the peripheral light-transmitting surface (3) of the panoramic image block (5) from within the angle of view of the panoramic image block (5). (5) A multidirectional image capturing apparatus having a cylindrical shape having a continuous mirror surface facing the entire area of the peripheral light transmitting surface (3). 2. A central light-shielding surface (1) and a central light-transmitting surface (2) opposed to each other; a peripheral light-transmitting surface (3) formed around the central light-shielding surface (1); A rotating body made of a transparent material having a peripheral light-shielding surface (4) formed around the surface (2), wherein the peripheral light-shielding surface (4) is incident light from the peripheral light-transmitting surface (3). Is a reflecting mirror that can pass through the rotating body and collect the light on the central light-shielding surface (1), and the central light-shielding surface (1) passes the reflected light from the peripheral light-shielding surface (4) through the rotary body and passes through the center. A reflecting mirror that can be collected on the light transmitting surface (2),
A panoramic image block (5) provided at the center of the central light-shielding surface (1) with a light-transmitting portion (9) for transmitting light passing only through the shaft portion of the rotating body; and the panoramic image block (5). Captures light emitted from the central light-transmitting surface (2) of
A multi-directional image capturing device comprising: an image input means (6) for converting the image signal into an image signal and outputting the image signal; 3. A lens (11) having a common axis (10) with the panoramic image block (5) is arranged on the central light-shielding surface (1), adjacent to the light-transmitting portion (9). The multi-directional image capturing device according to claim 2, wherein: 4. A reflecting member (8) for causing a side image of a subject (7) to enter the peripheral light-transmitting surface (3) of the panoramic image block (5) from within the angle of view of the panoramic image block (5). The multi-directional image capturing device according to claim 2 or 3, wherein: 5. A reflecting member (12) for causing a face-to-face image of a subject (7) to enter the peripheral light-transmitting surface (3) of the panoramic image block (5) from within the angle of view of the panoramic image block (5). 5. The multi-directional image capturing device according to claim 1, wherein: