JP2012078710A - Image pickup device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image pickup device for acquiring the wide-range image of a measurement object.SOLUTION: This image pickup device includes: an image pickup element for detecting a visible light beam to acquire an image; a measurement part having a light emission part for irradiating the irradiation object area of a measurement object with a visible light beam, and for making, identifiably different according to the image, the hue of the visible light beam reflected by the irradiation object area to the adjacent section of the irradiation object area in the measurement object and a reception part for detecting the visible light beam from the irradiation object area, which measures a distance from the light emission part in the irradiation object area; and an image connection part for, when the prescribed range of the image is defined as an extraction image, connecting two extraction images P1 and P2, one of which including the image of an irradiation object area W1 which is irradiated with the visible light beam by the light emission part, and the other of which including a corresponding area W3 corresponding to the irradiation object area which is not irradiated with the visible light beam by the light emission part such that the measurement object W can be continued to create a connection image Q1. The image connection part uses the image of the corresponding area in the other extraction image.

Description

  The present invention relates to an imaging device that is inserted into a narrow space and acquires an image.

Conventionally, for example, the state and physical properties of a measurement object are measured in a relatively narrow space such as a pipeline.
As an example, an endoscope (imaging device) including an optical fiber disclosed in Patent Document 1 is known. In this optical fiber, the optical fiber for observation is embedded in the center of the optical fiber for light guide having a substantially circular cross section, and the glass tube for actual shooting is embedded in a position away from the optical fiber for observation in the optical fiber for light guide. Yes. The illumination light guided by the light guide optical fiber is emitted from the tip of the light guide optical fiber and reflected by the irradiation surface (measurement object) of the affected part, and the reflected light is observed by the observation optical fiber. The light is condensed and guided to the base end portion and observed.
On the other hand, the laser light is guided to the tip by the glass tube for actual shooting, and the laser light irradiated from the tip forms an irradiated area irradiated with the laser light on the irradiation surface. Since the live-action glass tube is arranged at a predetermined distance from the observation optical fiber, the observation position of the irradiated area in the observation field changes depending on the distance between the tip of the optical fiber and the irradiation surface. To do.

In addition to the above optical fiber, this endoscope acquires an image obtained by a halogen light source for guiding light to a light guide optical fiber, a laser light source for guiding laser light to a glass tube for actual shooting, and an observation optical fiber. An imaging apparatus and a monitor that displays the acquired image are provided.
By using an endoscope, based on the relationship between the distance from the center of the observation field of view to the irradiated area by the monitor and the distance from the tip of the optical fiber to the irradiated surface, the object to be measured is measured from the tip of the optical fiber. The distance to the irradiated area of the object can be detected. At this time, observation with an endoscope can be performed while recognizing the measurement position (irradiation region) where the distance is measured in the observation visual field.

JP-A-8-285541

However, in the endoscope disclosed in Patent Document 1, since the tip of the optical fiber is generally disposed in a small-diameter insertion portion, a sufficient observation field of view for the measurement object is ensured at the tip of the optical fiber. I can't. For this reason, there is a problem that only a local image of the measurement object can be acquired.
Further, since this image includes an image of the measurement position irradiated with the laser beam, it is difficult to compare the state of the measurement position in the image with the state in the vicinity of the measurement position.

  The present invention has been made in view of such a problem, and can be observed while being inserted in a narrow space, and can be measured while confirming an irradiated region on the measurement target. An object of the present invention is to provide an imaging apparatus that can measure the state of an object and acquire an image of a measurement object over a wide range.

In order to solve the above problems, the present invention proposes the following means.
The imaging apparatus of the present invention detects visible light, acquires an image from the detected visible light, and irradiates the irradiated region of the measurement object with the visible light, and then irradiates the irradiated region on the measurement object. A light emitting unit that distinguishes at least one of brightness and color of visible light reflected by the irradiated region with respect to adjacent portions so as to be distinguishable by the image, and infrared rays, visible light, and sound waves from the irradiated region A receiving unit that detects at least one of: a measuring unit that measures at least one of a distance, a temperature, and a vibration state from the light emitting unit in the irradiated region; the imaging element; the light emitting unit; A predetermined range of the image by the visible light reflected by a part of the measurement object including the irradiated area and a small-diameter and long insertion portion where the receiving unit is arranged is used as an extraction image. When the two extracted images are different from each other, and one of the extracted images includes an image of the irradiated region irradiated with visible light by the light emitting unit, and the other extracted image A corresponding image corresponding to the irradiated region in one of the extracted images is connected so that the shape of the object to be measured is continuous, and a combined image is created. And the image combining unit uses the image of the corresponding region in the other extracted image when the combined image is created.

  In addition, another imaging device of the present invention detects visible light and infrared light, acquires an image from the detected visible light and infrared light, and irradiates the irradiated area of the measurement object with infrared light to measure the measurement object. A light emitting unit for distinguishing the intensity of infrared rays reflected by the irradiated region with respect to a portion of the object adjacent to the irradiated region, and infrared rays, visible rays, and sound waves from the irradiated region; A receiving unit that detects at least one; a measuring unit that measures at least one of a distance, a temperature, and a vibration state from the light emitting unit in the irradiated region; the imaging element; the light emitting unit; A predetermined range of the image by the visible light and infrared rays reflected by a part of the measurement object including the irradiated region and a small-diameter and long insertion portion where the portion is disposed. Are extracted images that are different from each other, and one of the extracted images includes an image of the irradiated region that is irradiated with infrared rays by the light emitting unit, and the other of the extracted images. In the extracted image, the corresponding area corresponding to the irradiated area in one of the extracted images is connected by combining the objects to be measured so that the shape of the object to be measured is continuous. An image combining unit that generates an image, and the image combining unit uses an image of the corresponding region in the other extracted image when generating the combined image.

  The imaging apparatus preferably further includes a storage unit that stores the position information of the irradiated region in the combined image in association with the measurement value obtained by the measurement unit.

  In the imaging apparatus, the imaging device may include at least one lens that forms an image of the visible ray or the infrared ray on a detection surface of the imaging element, and the predetermined range includes the image having a small distortion due to the at least one lens. It is more preferable that it is a central part.

  According to the imaging apparatus of the present invention, the surroundings can be observed in a state of being inserted in a narrow space, and the state of the measurement object is measured while checking the irradiated region on the measurement object. A wide range of images can be acquired.

1 is an overall view of an endoscope apparatus according to an embodiment of the present invention. It is a block diagram of the endoscope apparatus. It is a figure explaining a state when a measuring object is imaged with the endoscope apparatus. It is a figure explaining the image displayed on LCD of the same endoscope apparatus. It is a figure explaining the process which the image connection part of the same endoscope apparatus joins an extraction image. It is a figure explaining the positional information and distance memorize | stored in the main memory of the same endoscope apparatus. It is a figure explaining arrangement | positioning of the image of the measuring object acquired with the same endoscope apparatus. It is a figure of the combined image which the image combining part of the same endoscope apparatus produced. It is a figure showing the position of the to-be-irradiated area | region which measured the distance in the same combined image. It is a perspective view of the principal part in the endoscope apparatus of the modification of one Embodiment of this invention. It is a perspective view of the front-end | tip part of the pipe camera of 2 embodiment of this invention. It is an A direction arrow directional view in FIG.

(First embodiment)
Hereinafter, a first embodiment of an imaging apparatus according to the present invention will be described with reference to FIGS. 1 to 10 in the case where the imaging apparatus is an endoscope apparatus. An endoscope apparatus is an apparatus that is inserted into a pipeline or the like, observes the inside of the pipeline, and measures the distance to a measurement object.
As shown in FIG. 1, the endoscope apparatus 1 includes a small-diameter and long insertion portion 10 that is capable of observing the front and acquiring a front image, and the insertion portion 10 that is connected to the proximal end of the insertion portion 10. Are provided with an operation unit 30, an endoscope main body 40 connected to the operation unit 30, and a display unit 60 that displays an image acquired by the insertion unit 10.

As shown in FIGS. 1 and 2, the insertion portion 10 includes a distal end hard portion 11 disposed at the distal end, a bending portion 12 that can be bent by being connected to the proximal end of the distal end hard portion 11, and a proximal end of the bending portion 12. And a flexible tube portion 13 (see FIG. 1) having flexibility.
In general, the outer diameter of the insertion part is 5 mm or more and 15 mm or less, and the length of the insertion part is 2 m or more and 20 m or less.
An illumination unit 16 having a light emitting diode that irradiates white visible light forward and an observation lens (lens) 17 that collects visible light are disposed on the distal end surface of the distal hard portion 11. The distance from the CCD (imaging device) 18 that acquires an image from visible light, the communication control unit 19 that transmits and receives signals to and from the communication control unit 42 (to be described later) of the endoscope main body 40, and the measurement object W A distance measuring unit (measuring unit) 20 for measuring is incorporated.

The observation lens 17 condenses an image of visible light within a predetermined viewing angle θ1 in front of the insertion unit 10 and forms an image on the detection surface 18a of the CCD 18. The CCD 18 detects visible light imaged on the detection surface 18a and acquires an image. A range on the measurement object W from which an image is acquired corresponding to the viewing angle θ1 is an observation field of view displayed on the display unit 60.
The communication control unit 19 superimposes or separates a plurality of signals on one signal so that the number of the electric wires 23 connected to the communication control unit 19 and passing through the insertion unit 10 is, for example, three. Process.

In the present embodiment, the distance measuring unit 20 is a TOF (Time Of Flight) type that measures the distance to the measurement object based on the time from when the laser beam is irradiated until it is reflected and detected by the measurement object. Distance sensors are used.
The distance measuring unit 20 detects the red visible light, the light emitting unit 24 that irradiates the red laser light L1 forward, the light control unit 25 that controls the light emitting unit 24 based on the signal from the communication control unit 19, and the like. A light receiving unit (receiving unit) 26, a return light detecting unit 27 that amplifies the signal of the laser light L1 detected by the light receiving unit 26, and a distance calculating unit 28 that calculates the distance from the light emitting unit 24 to the measurement object W. Have.
The light emitting unit 24 and the light receiving unit 26 are disposed on the distal end surface of the distal end rigid portion 11.
The light control unit 25 is electrically connected to the communication control unit 19, and switches the power supply state to the light emitting unit 24 based on a signal received from the communication control unit 19.
When the user irradiates the irradiated region W1 that is a part of the surface of the measurement target W with the laser light L1, the irradiated region W1 is within the viewing angle θ1 of the observation unit 12. Further, the distance from the distal end of the insertion portion 10 to the irradiated region W1 is adjusted so that the distance is within the distortion reduction angle θ2 where the distortion due to the observation lens 17 is small in the observation field.
On the surface of the measurement object W, the illuminated area W1 and the adjacent area W2 adjacent to the illuminated area W1 are illuminated with white visible light by the illumination unit 16. The light emitting unit 24 irradiates the irradiated region W1 with the red laser light L1, and the image combination described later with the image acquired by the CCD 18 reflects the color of the visible light reflected by the irradiated region W1 with respect to the adjacent region W2. The portions 45 can be made different so that they can be identified.

  In order to make the colors different so that the irradiated area W1 and the adjacent area W2 can be distinguished from each other by image, it is preferable to use a color of the laser light L1 that is different from the color of the surface of the measuring object W. Further, for example, when the irradiated region W1 and the adjacent region W2 are illuminated with white light at an illuminance of 100 lx (lux) while blocking light from the outside world, the red laser light L1 that irradiates the irradiated region W1 alone The illuminance is preferably 150 lx or more.

For the light receiving unit 26, an element that detects red visible light from the reception direction D from the front toward the light receiving unit 26 with high directivity, such as PSD (Position Sensitive Detector) or CCD, may be appropriately selected and used. it can.
In general, the distance from the light emitting unit 24 to the measurement target W is sufficiently larger than the distance between the light emitting unit 24 and the light receiving unit 26. Further, in the present embodiment, since the relative position between the light emitting unit 24 and the light receiving unit 26 is not changed, the irradiated region where the light emitting unit 24 emits the laser light L1 when the bending unit 12 is bent. The direction from W1 toward the light receiving unit 26 is the reception direction D.
The distance calculation unit 28 is based on the time difference from when the laser beam L1 is irradiated by the light emitting unit 24 to when the laser beam L1 reflected by the irradiated region W1 is received by the light receiving unit 26. The distance from the measurement object W to the irradiated area W1 is calculated, and the result is transmitted to the communication control unit 19 as a signal.

  As shown in FIG. 1, the operation unit 30 includes a bending operation button 31 for operating the bending unit 12 and a main operation button 32 for operating the endoscope main body 40, the display unit 60, and the like. Is provided.

  As shown in FIGS. 1 and 2, the endoscope main body 40 includes a casing 41 and a communication control unit 42 that is incorporated in the casing 41 and that transmits and receives signals between the communication control unit 19 and the illumination unit. 16, an illumination control unit 43 that controls 16, an image processing unit 44 that processes and temporarily stores images acquired by the CCD 18, an image combining unit 45 that joins a plurality of images to create a combined image, and an endoscope body 40 includes a processing unit 46 that performs control processing as a whole, a main memory (storage unit) 47 that stores measurement results from the distance measurement unit 20, and a power supply unit 48 that supplies power to the insertion unit 10 and the display unit 60. is doing.

The electric wire 23 has an intermediate portion connected to the operation unit 30 and a proximal end connected to the communication control unit 42.
The communication control unit 42, the image processing unit 44, and the image combining unit 45 are connected in series in this order.
The communication control unit 42 performs signal superposition and separation processing in the same manner as the communication control unit 19.
The image processing unit 44 has a memory (not shown) and can store an image acquired by the CCD 18.
The image combining unit 45 extracts an extracted image that is a central portion of an image with a small distortion by the observation lens 17 from the image stored in the image processing unit 44, and extracts two different extracted images from the measurement object W. The combined images are created by connecting them so that their shapes are continuous. Further, the main memory 47 stores the position information of the irradiated area W1 in the combined image in association with the distance measured by the measurement unit 20. The processing performed by the image combining unit 45 and the specific contents stored in the main memory 47 will be described in detail later.
The processing unit 46 is electrically connected to the illumination control unit 43, the image combining unit 45, and the main memory 47.

  A connector 49 that is electrically connected to the processing unit 46 and the power supply unit 48 is attached to the outer surface of the casing 41.

The display unit 60 is detachably disposed on the casing 41. The display unit 60 includes an LCD 61 that displays an image and the like, and wiring 62 that can be attached to and detached from the connector 49.
By connecting the wiring 62 to the connector 49, the display unit 60 is supplied with predetermined power from the power supply unit 48 and can display the image transmitted from the processing unit 46 on the LCD 61.

Next, processing performed by the image combining unit 45 will be described.
As shown in FIG. 3, by operating the operation unit 30 in a state where the flexible tube portion 13 of the insertion unit 10 is fixed with respect to the measurement target W, the illumination unit 16 sets a certain range of the measurement target W. While illuminating, the light emitting unit 24 irradiates the irradiated region W1 of the measurement target W with the laser light L1.
At this time, as shown in FIG. 4, the LCD 61 of the display unit 60 has an irradiation region W1 within an appropriate range R (observation field of view corresponding to the distortion reduction angle θ2 in FIG. 2) with a small distortion due to the observation lens 17 described above. Is displayed. Of the image displayed on the LCD 61, the portion within the appropriate range R is the above-described extracted image.

As shown in FIG. 5, the image combining unit 45 includes two extracted images P1 and P2 which are different from each other, and the irradiated region W1 irradiated with the red laser light L1 from the light emitting unit 24 in the extracted image P1. The combined image Q1 is formed by connecting the corresponding regions W3 corresponding to the irradiated region W1 in the extracted image P1 in the extracted image P2 that are not irradiated with the laser light L1 by the light emitting unit 24. create.
The irradiated region W1 and the corresponding region W3 are the same range on the surface of the measurement object W. However, by bending the bending portion 12 and moving the observation field of view by the observation lens 17 in a state where the flexible tube portion 13 is fixed, this same range can be obtained in the extracted image P1 to which the laser beam L1 is irradiated. It becomes the irradiation region W1 and becomes the corresponding region W3 where the laser beam L1 is not irradiated in the extracted image P2.
When connecting the two extracted images P1 and P2, the image combining unit 45 includes the feature region R1 included in the extracted image P1 and the feature region R2 included in the extracted image P2, and includes the feature region R1 and the feature region R2. Are detected, and the extracted images P1 and P2 are connected so that the feature regions R1 and R2 overlap each other.

The characteristic region is, for example, binarizing the luminance of each pixel in the image with a predetermined threshold value to obtain the contour shape of the entire measurement target, the contour shape of the surface constituting the measurement target, and the like. And a numerical value representing the shape. Examples of the shape type of the feature region include a straight line, a curved line, a circle, a broken line, and a branched shape. In addition, examples of the numerical value representing the shape when the characteristic region is a straight line include the length and inclination of the straight line.
In the example of FIG. 5, the image combining unit 45 recognizes that the feature region R1 that is a straight line in the extracted image P1 and the feature region R2 that is a straight line in the extracted image P2 have the same length and inclination, and thus the feature region R1. , R2 are overlapped so that the two extracted images P1 and P2 are connected.

The image combining unit 45 compares the colors of adjacent pixels in the extracted image P1. For example, when the difference in red luminance between adjacent pixels is equal to or greater than a predetermined threshold, the adjacent pixels are detected by the measurement object W. The position and size of the irradiated region W1 irradiated with the laser beam L1 on the measurement target W are specified as the boundary between the adjacent region W2 and the irradiated region W1 irradiated with the red laser beam L1. Thus, the irradiated area W1 is identified from the adjacent area W2. Then, a direction vector E1 from the feature region R1 to the irradiated region W1 is obtained in the extracted image P1, and a red luminance distribution is obtained in pixels around the corresponding region W3 moved from the feature region R2 in the extracted image P2. When the difference in red luminance between adjacent pixels in the peripheral pixels is smaller than a predetermined threshold value, it is determined that the corresponding region W3 in the extracted image P2 is not irradiated with the laser light L1.
As described above, the image combining unit 45 identifies the irradiated region W1 from the adjacent region W2, and creates the combined image Q1 when it is determined that the corresponding region W3 is not irradiated with the laser light L1. When creating this combined image Q1, an image of the corresponding area W3 of the extracted image P2 is used instead of the image of the irradiated area W1 of the extracted image P1.

Further, the image combining unit 45 sets the X and Y axes orthogonal to each other with the corner O in the combined image Q1 as the origin, and obtains the X coordinate and Y coordinate (position information) of the irradiated area W1 in the combined image Q1. Are converted into signals and transmitted to the main memory 47. In addition, the position of the pixel at the position where the X-axis coordinate value is the smallest among the extracted images P1 and P2 is the X-coordinate of the corner portion O, and the Y-axis coordinate value is the smallest position among the extracted images P1 and P2. Let the pixel position be the Y coordinate of the corner O.
As shown in FIG. 6, the main memory 47 measures the X and Y coordinates of the transmitted irradiated area W1 from the light emitting unit 24 measured when the image that is the basis of the extracted image P1 is acquired. The information is stored in association with the distance K to W1.

Next, an operation when the endoscope apparatus 1 configured as described above is inserted into a pipeline and the measurement object W is imaged will be described.
First, the user operates the main operation button 32 of the operation unit 30 to activate the processing unit 46 of the endoscope body 40.

Subsequently, the illumination unit 16 emits white illumination light to illuminate the front of the insertion unit 10, and the light emitting unit 24 emits red laser light L1 as guide light, and the distance measurement unit 20 from the reception direction D. The insertion portion 10 is inserted into a pipe line (not shown) while detecting the red visible light and measuring the distance.
At this time, the LCD 61 of the display unit 60 displays a visible image including the reflected red laser beam L1 acquired by the CCD 18 and a distance from the light emitting unit 24 to the position where the laser beam L1 is reflected. Is done. The measured value of this distance is updated every predetermined time interval.
The user inserts the insertion unit 10 into the pipe line while checking the situation in front of the insertion unit 10 while viewing the image displayed on the LCD 61 and the distance.

As shown in FIG. 3, when the distal end of the insertion portion 10 reaches the vicinity of the measurement object W, a certain range of the measurement object W is illuminated by the illumination unit 16 and guided to the irradiated area W1 of the measurement object W. Laser light L1, which is light, is irradiated. At this time, as shown in FIG. 4, the LCD 61 has an image of the measurement target W and the irradiated region W1 irradiated with the laser light L1 as the guide light, and the distance from the light emitting unit 24 to the irradiated region W1. V is displayed.
Here, as shown in FIG. 3, while the flexible tube portion 13 of the insertion portion 10 is fixed to the measurement target W, a partial image of the measurement target W is acquired by the CCD 18 and at the same time the distance measurement is performed. The distance from the light emitting unit 24 to the irradiated region W1 is measured by the unit 20. The images and distances acquired at the same time are transmitted to the image processing unit 44 through the communication control units 19 and 42 while being associated with each other, and stored in the memory of the image processing unit 44.
The user repeatedly operates the bending operation button 31 of the operation unit 30 to bend the bending unit 12 by a certain amount, obtains an image of the measurement object W, and simultaneously measures the distance to the irradiated region W1 to perform measurement. An image over almost the entire object W is acquired. At this time, as shown in FIG. 7, in the two extracted images P1 and P2 extracted from the adjacent images, the extracted image P1 includes an image of the irradiated region W1 irradiated with the laser light L1. The image is acquired so that the corresponding region W3 corresponding to the extracted image P1 in the extracted image P2 is not irradiated with the laser light L1.

The image combining unit 45 extracts the extracted images from the plurality of images stored in the memory of the image processing unit 44 and connects the plurality of extracted images. As shown in FIG. Is created. In this combined image Q2, an image of the corresponding region W3 not irradiated with the laser light L1 is used instead of the image of the irradiated region W1 irradiated with the laser light L1. For this reason, only the corresponding region W3 is not irradiated with the red laser light L1 with respect to the adjacent region W2, and the surface color of the measurement object W can be easily compared.
Further, the main memory 47 sets the corner portion O, the X axis, and the Y axis in the combined image Q2. Subsequently, as shown in FIG. 9, the X coordinate and the Y coordinate of the irradiated area W1 in each extracted image with respect to the corner O are obtained. Then, as shown in FIG. 6, the obtained X coordinate and Y coordinate of the irradiated area W1 are associated with the distance K stored in the memory of the image processing unit 44 in association with the image that is the basis of the extracted image. Remember.
In the present embodiment, on the LCD 61 of the display unit 60, a large number of irradiated areas W1 can be displayed superimposed on the combined image Q2 of the measurement object W. In this state, when the irradiated area W1 is designated, the distance K corresponding to the designated position is read from the main memory 47 based on the correspondence between the position information stored in the main memory 47 and the distance K. The value is displayed on the LCD 61.

  Thus, after finishing imaging of the measuring object W in a state where the flexible tube portion 13 of the insertion portion 10 is fixed to the measuring object W, imaging of other measuring objects is similarly performed as necessary. Repeatedly.

As described above, according to the endoscope apparatus 1 of the present embodiment, the user inserts the insertion unit 10 into the duct while confirming the image acquired by the CCD 18 on the LCD 61, for example. Then, the distal end of the insertion portion 10 is disposed in the vicinity of the measurement target W, the red laser light L1 is emitted from the light emitting unit 24 to the irradiated region W1 of the measurement target W, and the light receiving unit 26 starts from the irradiated region W1. The distance measurement unit 20 measures the distance from the light emitting unit 24 to the irradiated region W1 by detecting visible light.
The user obtains an image by visible light by the CCD 18 while curving the bending portion 12 of the insertion portion, so that the extracted images P1 and P2 which are the central portions of two different images are included in the extracted image P1. The image of the irradiated region W1 irradiated with the laser light L1 from the light emitting unit 24 is included, and the image of the corresponding region W3 that is not irradiated with visible light by the light emitting unit 24 is included in the extracted image P2. Get what you have.
The image combining unit 45 connects the two extracted images P1 and P2 so that the shape of the measurement object W is continuous, thereby creating a combined image Q2. At that time, the image of the corresponding region W3 of the extracted image P2 is used for the combined image Q2 instead of the image of the irradiated region W1 of the extracted image P1.

As described above, even when the insertion portion 10 in which the CCD 18 is arranged is small in diameter and long and the CCD 18 cannot be configured to acquire a wide range image of the measurement object W at a time, the image combining portion 45. By joining the images acquired by the above, it is possible to create a combined image Q2 that is a wider range image of the measurement object W and does not have a region irradiated with the laser light L1 from the light emitting unit 24.
Further, when the image of the measurement object W is acquired, the irradiated region W1 can be identified with respect to the adjacent region W2 by the light emitting unit 24, so that the user can easily position the image of the irradiated region W1. It is possible to easily acquire an image for recognizing and joining together.

Since the endoscope apparatus 1 includes the main memory 47, the distance K from the light emitting unit 24 to the irradiated region W1 is set to the main memory 47 by designating the X coordinate and the Y coordinate of the irradiated region W1 in the combined image Q2. Can be read from.
Since the extracted image is extracted from the image obtained by the CCD 18, the distortion of the extracted image can be suppressed even when the observation lens 17 has distortion.

In the first embodiment, the imaging device is the endoscope device 1, and the distance measuring unit 20 having the light emitting unit 24 and the light receiving unit 26 is disposed at the distal end hard portion 11 of the endoscope device 1. did. However, as shown in FIG. 10, the imaging device has a configuration in which the distance measuring unit 20 is not provided with respect to the endoscope device 1 and the distal end of the insertion portion 72 of the endoscope device 71 is hard. The endoscope system 2 may include a distance measurement unit (distance measurement unit) 73 attached to the outer peripheral surface of the unit 11. You may make it attach the distance measurement unit 73 to the front-end | tip hard part 11 of the insertion part 72 with a band member not shown.
Even if the endoscope system 2 is configured in this way, the bending portion 12 is bent by a certain amount, an image of the measurement object W is acquired, and at the same time, the laser beam L1 is irradiated from the distance measurement unit 73 to the irradiated region W1. By repeating the measurement of the distance, it is possible to acquire an image over almost the entire measurement object W as in the first embodiment.
The imaging device may include the above-described endoscope device 71 and a guide tube device in which a channel through which the insertion portion 72 of the endoscope device 71 can be inserted is formed and a distance measuring portion is arranged at the tip. .

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIG. 11 and FIG. explain. In the present embodiment, a case where the imaging device is a pipe camera will be described.
As shown in FIGS. 11 and 12, the pipe camera 3 is configured to include an insertion portion 80 instead of the insertion portion 10 of the endoscope apparatus 1.
The insertion portion 80 includes an observation unit 81 disposed at the tip, and a rod-like support 82 that is connected to the observation unit 81 and supports the observation unit 81 so as to be rotatable around its own axis C1. Yes.

The observation unit 81 is attached to the base member 85 connected to the support 82, the unit main body 86 rotatably connected to the base member 85, and the tip of the support 82, and the base member 85 and the unit main body 86 are connected to each other. And a cover 87 for covering.
The base end of the base member 85 is supported by the support 82 so as to be rotatable around the axis C1. The base member 85 has a pair of arms 85a extending in parallel to the axis C1 in a state of being separated from each other on the distal end side thereof.
The unit main body 86 is disposed between the pair of arm portions 85a and connected to the shaft member 88 spanned between the distal end portions of the pair of arm portions 85a, whereby the unit body 86 is rotated around the axis C2 of the shaft member 88. Is rotatably supported.
In this embodiment, the cover 87 is formed in a spherical shell shape with a transparent material such as resin.

The unit main body 86 includes a box-shaped casing 91, an observation lens 17 disposed in the center portion on the front end surface of the casing 91, a plurality of light emitting diodes 92 disposed in a ring shape so as to surround the observation lens 17, and a plurality of light emitting diodes 92. The light emitting unit 24 and the light receiving unit 26 are disposed so as to sandwich the light emitting diode 92 therebetween.
The casing 91 includes a CCD 18, a light control unit 25, a return light detection unit 27, and a distance calculation unit 28 (not shown).
In general, in the pipe camera 3, the cover 87 has an outer diameter of 15 mm or more and 20 mm or less, and the insertion portion 80 has a length of 10 m or more and 30 m or less.
The support 82 is made of a material that is so rigid that it does not bend in normal use.

  Although not shown, the pipe camera 3 includes a mechanism for rotating the base member 85 about the axis C1 and a mechanism for rotating the unit main body 86 about the axis C2. The pipe camera 3 is rotated 360 about the axis C1. The unit body 86 can be rotated by 180 ° around the axis C2.

  According to the pipe camera 3 configured in this way, the surroundings can be observed while being inserted in a narrow space, and the state of the measurement object W is confirmed while confirming the irradiated area W1 on the measurement object W. And an image over a wide range of the measurement object W can be acquired.

As mentioned above, although 1st Embodiment and 2nd Embodiment of this invention were explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The structure of the range which does not deviate from the summary of this invention Changes are also included. Furthermore, it goes without saying that the configurations shown in the embodiments can be used in appropriate combinations.
For example, in the first embodiment and the second embodiment, the light emitting unit 24 emits red laser light L1, and the irradiated region W1 and the adjacent region W2 are made different in color so that the image combining unit 45 is covered. The irradiation region W1 and the adjacent region W2 are configured to be distinguishable. However, when the light emitting unit emits white visible light with a predetermined illuminance or higher and the brightness of the irradiated region W1 is different from that of the adjacent region W2, the image combining unit 45 changes the irradiated region W1 and the adjacent region W2. You may comprise so that identification is possible.
At this time, for example, when the illumination unit 16 illuminates the irradiated region W1 and the adjacent region W2 with white light at an illuminance of 100 lx, the illuminance of the white light alone that the light emitting unit 24 irradiates the irradiated region W1 is 150 lx or more. It is preferable to do.

  In the first embodiment and the second embodiment, the distance measuring unit that is a measuring unit based on the detection result of the red visible light reflected by the irradiated region W1 that is detected by the light receiving unit 26 that is the receiving unit. Suppose that 20 measures the distance from the light emission part 24 to the to-be-irradiated area W1. However, for example, the receiving unit may detect infrared rays from the irradiated region W1, and based on the detection result, the measuring unit may measure the temperature in the irradiated region W1, or the receiving unit may be irradiated. A sound wave from the region W1 may be detected, and the measurement unit may measure the vibration state in the irradiated region W1 based on the detection result.

In the first and second embodiments, the light emitting unit 24 emits red laser light L1 and the CCD 18 detects visible light. The light emitting unit 24 is irradiated with the irradiated laser light L1. The region W1 and the adjacent region W2 are made different in color so that the image combining unit 45 can identify them.
However, the light emitting unit emits infrared rays, and the CCD of the insertion unit 10 can detect visible light and infrared rays. The light emitting unit combines the irradiated region W1 and the adjacent region W2 with the infrared rays irradiated by itself. You may comprise so that the intensity | strength of infrared rays may be varied so that the part 45 may be identified. The CCD may be capable of detecting visible light and infrared light.
Similarly, the light emitting unit emits ultraviolet rays, and the CCD can detect visible light and ultraviolet rays. The light emitting unit is configured such that the image combining unit 45 divides the irradiated region W1 and the adjacent region W2 by the ultraviolet rays irradiated by itself. You may comprise so that the intensity | strength of an ultraviolet-ray may differ so that it can identify.

When the light emitted from the light emitting unit 24 is parallel light such as laser light, the size of the irradiated region W1 in the observation field increases as the distance K from the light emitting unit 24 to the irradiated region W1 increases. Becomes smaller. For this reason, in the first embodiment and the second embodiment, the image combining unit 45 determines the irradiation area W1 by obtaining the relationship of the size of the irradiation area W1 on the image with respect to the distance K in advance. The time required for identification can be shortened.
In the first embodiment and the second embodiment, in the first embodiment, a combined image is created from an extracted image that is a portion with a small distortion due to the observation lens 17 in the image acquired by the CCD 18. However, when the distortion due to the observation lens 17 is considered to be so small as to cause no problem, the extracted image may be the same as the image, and a combined image may be created from the entire image acquired by the CCD 18.

In the first embodiment and the second embodiment, when the distance measured by the distance measurement unit 20 is not required later, the main memory 47 may not be provided in the endoscope apparatus or the pipe camera.
In the first embodiment and the second embodiment, a TOF type distance sensor is used as the distance measuring unit 20. However, the present invention is not limited to this, and a distance sensor such as a triangulation method or a phase difference detection method may be used.

1 Endoscopic device (imaging device)
2 Endoscope system (imaging device)
3 Pipe camera (imaging device)
10, 72, 80 Insertion section 17 Observation lens (lens)
18 CCD (imaging device)
20 Distance measurement unit (measurement unit)
24 light emitting unit 26 light receiving unit (receiving unit)
45 Image combiner 47 Main memory (storage unit)
73 Distance measuring unit (distance measuring unit)
P1, P2 Extracted image Q1 Combined image W Measurement object W1 Irradiated area W3 Corresponding area

Claims (4)

An image sensor that detects visible light and acquires an image from the detected visible light;
Irradiate the irradiated area of the measurement object with visible light and reflect at least one of the brightness and color of the visible light reflected by the irradiated area with respect to a portion of the measurement object adjacent to the irradiated area. A light emitting unit that can be discriminated differently, and a receiving unit that detects at least one of infrared rays, visible light, and sound waves from the irradiated region, a distance from the light emitting unit in the irradiated region, a temperature, And a measuring unit for measuring at least one of vibration states;
A small-diameter and long insertion portion in which the imaging element, the light-emitting unit, and the receiving unit are arranged;
When the predetermined range of the image by the visible light reflected by a part of the measurement object including the irradiated region is an extracted image, the two extracted images are different from each other, and one of the extracted images An image of the irradiated region irradiated with visible light by the light emitting unit is included, and a corresponding region corresponding to the irradiated region in one of the extracted images in the other extracted image is included An image combining unit that forms a combined image by connecting the objects that are not irradiated with visible light by the light emitting unit so that the shape of the measurement object is continuous;
With
The image combining unit uses the image of the corresponding area in the other extracted image when the combined image is created. An image sensor that detects visible light and infrared light, and acquires an image from the detected visible light and infrared light,
A light-emitting unit that irradiates the irradiated region of the measurement object with infrared rays and distinguishes the intensity of infrared rays reflected by the irradiated region with respect to a portion adjacent to the irradiated region in the measurement object; And a receiving unit that detects at least one of infrared rays, visible rays, and sound waves from the irradiated region, and measures at least one of a distance, a temperature, and a vibration state from the light emitting unit in the irradiated region. A measuring unit to perform,
A small-diameter and long insertion portion in which the imaging element, the light-emitting unit, and the receiving unit are arranged;
When the predetermined range of the image by visible light and infrared rays reflected by a part of the measurement object including the irradiated region is an extracted image, the two extracted images are different from each other. The extracted image includes an image of the irradiated region irradiated with infrared rays by the light emitting unit, and a corresponding region corresponding to the irradiated region in one of the extracted images in the other extracted image An image combining unit that connects the objects that are not irradiated with infrared rays by the light emitting unit so that the shape of the measurement object is continuous, and creates a combined image;
With
The image combining unit uses the image of the corresponding area in the other extracted image when the combined image is created.   The imaging apparatus according to claim 1, further comprising a storage unit that stores position information of the irradiated region in the combined image in association with a measurement value obtained by the measurement unit. Comprising at least one lens for imaging the visible light or the infrared light on a detection surface of the image sensor;
The imaging apparatus according to claim 1, wherein the predetermined range is a central portion of the image with a small distortion due to at least one of the lenses.

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