JP2017158037A - Projection device and projection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily achieve reduction in size and weight of a projection device having a function of a laser radar and a function of video projection by suppressing the number of components, and to reduce a difference between an emission point of the projection device and an emission point of the laser radar, and to project a desired image to an object whose three-dimensional distance information has been detected by the laser radar with real time property of detection and projection.SOLUTION: A projection device shares: a scanning optical system (501) for scanning measurement light (505) of a laser radar; and a scanning optical system (501) for scanning image light (507) of a projection image. The projection device comprises a projection data arithmetic operation processing part for, on the basis of three-dimensional distance information of a projection range (509) of a surface of a peripheral object (504) detected by a function of the laser radar, performing deforming arithmetic operation of original image data for projection to be projected to the projection range into actual projection image data to be actually projected. The projection device projects an image to the projection range by driving a light source (508) of image light on the basis of the actual projection image data.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a projection apparatus and a projection system.

When projecting an image using the surface of any object as the projection surface, or when trying to project an image onto the surface of a moving object, the projector moves when mounted on a moving object such as a drone. In such a case, there is a problem that a desired image such as an orthogonal projection of the original image is not projected, and the object moves from the projection range. Projection mapping, which has recently attracted attention, requires precise positioning and measurement, but it may be difficult and complicated to make accurate measurements in advance for amusement applications such as concerts and outdoor events. Even if there is a drawing of the building or the venue, there is a possibility that it is different from the reality, and if it is projected in such a situation, the “look” becomes unnatural, which is not preferable. Also, in real-time events such as concerts and live performances, real-time performance may be required, and in such cases, it may be projected onto a moving object, and positioning / synchronization programming and rehearsal must be performed in advance. There is a desire to perform accurate projection in real time without performing such precise settings.
Conventionally, the distance (three-dimensional shape) of the projection range from the projection device is detected, the projection image data is corrected based on the detected three-dimensional distance information, and the projection device is added to the projection range based on the corrected projection image data. It has been proposed to project an image.
In the invention described in Patent Document 1, when an image is projected onto a plane that is not parallel to the optical axis of projection or a projection plane that is not a plane (a plane with bending), the three-dimensional shape of the projection plane is converted into a laser radar. Detected by the above, and after correcting to the optimal image, it projects.
By performing two-dimensional scanning in the XY direction with a laser radar, three-dimensional distance information in which distance information Z is added to each XY coordinate can be acquired.

Japanese Patent Laying-Open No. 2015-139087

However, when a laser radar is provided in addition to the projection device, the size and weight increase occur, which makes it difficult to install and mount on a drone.
Laser radar detects the distance from the laser radar, and some shapes that are visible from the exit point of the projection device are not visible from the exit point of the laser radar. There is a problem that three-dimensional distance information viewed from a point cannot be obtained completely. That is, there is a problem that the difference between the exit point of the projection device and the exit point of the laser radar should be reduced.
After detecting with the laser radar, if the projection device is installed at the place where the laser radar was installed and projection starts, the difference between the emission point of the projection device and the emission point of the laser radar can be eliminated, It takes time from detection to projection, and is not realistic when projected onto a moving object or when a projection device is mounted on a moving object. The image can be affected, and the installation work is complicated if it is to be installed accurately.
As laser projection equipment, projection equipment using MEMS is widespread, but there are difficulties in wide-angle drawing and high-speed drawing.
Laser radar is a device capable of grasping a wide range of three-dimensional shapes, and various uses are being studied. Particularly, a type that scans using a polygon mirror can perform wide-angle and high-speed scanning.
On the other hand, since laser radar uses an invisible light source such as infrared light, there is a problem that it is impossible to visually confirm which range is being measured. After detecting with the aforementioned laser radar, when installing a projection device at the place where the laser radar was installed and starting projection, there is no real-time detection and projection, and the display of the detection range with the laser radar is not possible. Can't do it.
In addition, the laser radar receiver also has a problem in that it causes a problem with the incidence of visible light.

  The present invention has been made in view of the above-described problems in the prior art, and in a projection apparatus having a laser radar function and a video projection function, the number of components can be reduced and the size and weight can be easily reduced. To realize the real-time detection and projection of the desired image by reducing the difference between the laser radar emission point and the laser radar, and further projecting the desired image on the object whose 3D distance information is detected by the laser radar And

  The invention described in claim 1 for solving the above-described problem is a projection apparatus having a laser radar function and a video projection function, a scanning optical system that scans the measurement light of the laser radar, and a projection image This is a projection apparatus that is shared with a scanning optical system that scans image light.

  According to a second aspect of the present invention, the light source of the image light is capable of distributing a plurality of pixel lights that form pixel rows in a sub-scanning direction intersecting with a main scanning direction by the scanning optical system. Device.

  According to a third aspect of the present invention, the light source of the image light has a light emitting direction for enabling light distribution of a plurality of pixel lights that form pixel rows in the sub-scanning direction intersecting with the main scanning direction by the scanning optical system. The projection apparatus according to claim 1, comprising an acoustooptic element that is changed by an acoustooptic effect.

  The invention according to claim 4 is characterized in that the scanning optical system has a mechanism for driving the reflection surface to change the angle, and the measurement light and the image light are reflected and scanned by the reflection surface. It is a projector as described in any one of Claims 1-3.

  The invention according to claim 5 is the projection apparatus according to claim 4, wherein the scanning optical system has a pair of reflecting surfaces that are reflected twice when the measurement light is emitted and received and when the image light is emitted. is there.

The invention according to claim 6 is based on the three-dimensional distance information of the projection range of the surface of the peripheral object detected by the function of the laser radar, and the actual projection for actually projecting the original image data for projection to be projected on the projection range Provided with a projection data computation processing unit that transforms image data
6. The projection apparatus according to claim 1, wherein an image is projected onto the projection range by driving a light source of the image light based on the actual projection image data. 7.

  The invention according to claim 7 is the projection apparatus according to claim 6, wherein the projection data calculation processing unit performs the deformation calculation so that a change in projection due to a change in a three-dimensional distance of the projection range is reduced.

The invention according to claim 8 is a recognition unit for recognizing a human based on three-dimensional distance information detected by a function of a laser radar;
A control unit for instructing the projection data calculation processing unit by providing a projection prohibition range in a range where the human range recognized by the recognition unit overlaps the projection range;
The projection device according to claim 6, wherein the projection data calculation processing unit sets a pixel in the projection prohibited range as a non-light emitting pixel.

The invention according to claim 9 includes a recognition unit for recognizing a person based on the three-dimensional distance information detected by the function of the laser radar.
The projection data calculation processing unit sets the observation point for the person recognized by the recognition unit, and converts the original image data so that the observation image when the projection image is observed from the observation point becomes a desired image. The projection apparatus according to claim 6, wherein a deformation calculation is performed on actual projection image data to be actually projected.

  A tenth aspect of the present invention is the projection apparatus according to any one of the first to ninth aspects, wherein the image light source is a visible light source.

  The invention according to claim 11 is the projection apparatus according to any one of claims 1 to 10, wherein a visible light cut filter is disposed in front of a light receiving element that realizes the function of the laser radar.

  A twelfth aspect of the present invention is the projection apparatus according to any one of the first to eleventh aspects, wherein the optical axis of the measurement light and the optical axis of the image light are not parallel to each other.

  A thirteenth aspect of the present invention is the projection apparatus according to the twelfth aspect, wherein the scanning range of the image light is included in the scanning range of the measurement light.

  The invention according to claim 14 is the projection apparatus according to claim 12, wherein the scanning range of the image light and the scanning range of the measurement light do not have a common range.

  According to a fifteenth aspect of the present invention, the measurement light reception detection and the image are time-divided into one frame so that the measurement light reception detection period and the image light projection period do not overlap each other in time. The projection apparatus according to claim 1, wherein the projection of light is controlled.

  A sixteenth aspect of the invention is the projection apparatus according to any one of the first to fifteenth aspects, further comprising a cooling device that cools the light source of the measurement light and the light source of the image light.

  According to a seventeenth aspect of the present invention, there are provided a plurality of projection apparatuses according to any one of the first to fifth aspects, and the projection of the surface of a peripheral object detected by the function of the laser radar of one of the projection apparatuses. A projection data calculation processing unit configured to perform transformation calculation on the projection original image data to be projected onto the projection range into actual projection image data based on the three-dimensional distance information of the range; The projection system projects an image onto the projection range by driving a light source of the image light based on image data.

According to the present invention, since the scanning optical system that scans the measurement light of the laser radar and the scanning optical system that scans the image light of the projection image are shared, the laser radar function and the video projection function are provided. In the projection device, it is easy to reduce the size and weight by suppressing the number of parts, and the difference between the emission point of the projection device and the emission point of the laser radar can be reduced.
Furthermore, based on the three-dimensional distance information of the projection range of the surface of the peripheral object detected by the laser radar function, the projection original image data to be projected onto the projection range is transformed into actual projection image data to be actually projected. By providing the projection data calculation processing unit, it is possible to realize projection of a desired image on an object whose three-dimensional distance information is detected by a laser radar.
Further, the real-time property of detection and projection can be realized at a high level by distributing the measurement light reception detection period and the image light projection period in one frame in a time-sharing manner.

It is a functional block diagram of an example which comprises the projection apparatus of this invention. It is a schematic diagram which shows the structural example of the optical system of the projection apparatus of this invention. It is a schematic diagram which shows the structural example of the projection optical system of the projection apparatus of this invention. FIG. 5 is a graph (a) showing a light reception detection period and a graph (b) showing an image projection period for explaining a time division control method of measurement and projection in the projection apparatus of the present invention. It is a schematic diagram which shows the structural example and utilization example of the projection apparatus of this invention. It is the picked-up image of an example surrounding environment used as the measuring object of the projection apparatus of this invention. 7 is a computer graphic in which the three-dimensional distance information obtained by measuring the surrounding environment in FIG. 6 is visualized on a two-dimensional surface. It is the computer graphic which showed the person recognized based on the obtained three-dimensional distance information, its movement locus | trajectory, etc. It is a schematic diagram which shows the other structural example of the projector of this invention. It is a schematic diagram which shows the other usage example of the projector of this invention.

  An embodiment of the present invention will be described below with reference to the drawings. The following is one embodiment of the present invention and does not limit the present invention.

[Function block]
FIG. 1 is a functional block diagram of an example constituting the projection apparatus of the present invention. As shown in FIG. 1, the projection apparatus of this example includes a central control unit 10, a drive unit control unit 11, a scanning optical system 12, a measurement light control unit 21, a measurement light source 22, an emission optical system 23, a light reception optical system 31, Measurement light receiving unit 32, measurement light calculation processing unit 33, original image data / projection condition storage unit 41, projection data calculation processing unit 42, image light source 43, projection optical system 44, data input / output unit 8, operation unit 9 and so on. The scanning optical system 12 is provided with a scanning surface 12a and driving means 12b for driving the scanning surface 12a to rotate.

The function of the laser radar is realized by functional elements 8, 9, 10, 11, 12, 21, 22, 23, 31, 32, 33. When used only as a laser radar, only these elements will work.
A projection device that projects an image without being based on information detected by the laser radar functions by the functional elements 8, 9, 10, 11, 12, 41, 42, 43, 44.
As described above, the scanning optical system 12 is shared as means for scanning the measurement light of the laser radar and means for scanning the image light of the projection image.

[Optical system configuration example 1]
FIG. 2 shows a configuration example of the optical system of the projection apparatus.
As shown in FIG. 2, the scanning surface of this example is constituted by the reflecting surface of the mirror 201. The mirror 201 is a mirror part of a galvano scanner, and a galvano scanner with two driving axes is applied, or two galvano scanners with one driving axis are used in the X and Y directions, so that 2 in the XY direction. A laser radar that performs dimension scanning can be used, whereby three-dimensional distance information in which distance information Z is added to each XY coordinate can be acquired, and an image can be projected. At this time, the galvano scanner is an example of a mechanism for driving the reflection surface as the scanning surface 12a to change the angle.

  A laser light source device 203 (corresponding to elements 21, 22, and 23 in FIG. 1) that emits measurement light 202 to the mirror 201, and measurement light 204 that has returned from a peripheral object irradiated with the measurement light 202. Is received, and an image light output device 207 (corresponding to elements 43 and 44 in FIG. 1) that emits image light 206 to the mirror 201 is provided.

  As an example, the light source of image light can be implemented as a visible light source. In this case, the image can be visualized directly on the projection surface without any special effect. In addition, as an amusement use or a security use, it can be visualized by drawing with invisible light and wearing special goggles or glasses by an observer. In addition, if the projection surface emits ultraviolet rays, ultraviolet drawing is also possible.

As an equivalent to the light receiving optical system 31 in FIG. 1, a condensing lens 208 and a visible light cut filter 209 are disposed in the optical path between the light receiving device 205 and the mirror 201. The visible light cut filter 209 is disposed in front of a light receiving element (equipped in the light receiving device 205) that realizes a laser radar function, and prevents visible light from entering the light receiving element. The visible light cut filter 209 can cut not only visible light incident from the outside but also image light (such as diffracted light inside the device) when the light source of image light is a visible light source. Laser radar requires careful measures against unnecessary light, and many publicly known examples that have been devised for that purpose have been published (including many known examples including a configuration that eliminates the influence of unnecessary light diffraction inside the device). ).
The most unwanted light is externally visible light (natural light or artificial lighting), but if there is no projection function, it is sufficient to install a visible light cut filter on the exterior member of the device housing. Then, since visible light is projected, unnecessary light due to diffraction inside the device cannot be avoided even with such a configuration.
Therefore, the visible light cut filter 209 is provided only at the site of the light receiving element to separate unnecessary light. Therefore, the visible light cut filter 209 is arranged inside the device so as not to enter the light receiving element without passing through the visible light cut filter 209.

  As a component corresponding to the projection optical system 44, a converging optical system component for enhancing the directivity of image light such as a collimator lens and increasing the pixel definition on the projection surface is disposed.

[Optical system configuration example 2]
FIG. 3 shows a configuration example of the projection optical system of the projection apparatus. The mirror 201 is the same as that in FIG. 2 and constitutes the scanning surface 12 a of the scanning optical system 12.
The image light output device 301 shown in FIG. 3 (corresponding to the element 43 in FIG. 1) is capable of distributing a plurality of pixel lights that form pixel rows in the sub-scanning direction Y that intersects the main scanning direction X by the scanning optical system. It is an example. The image light output device 301 in the illustrated example has a configuration including 18 pixels in which nine light sources arranged on one column in the sub-scanning direction Y are shifted by half a pixel and arranged in two columns. 18 pixels are configured to emit light simultaneously, and are scanned in the main scanning direction and the sub-scanning direction.
If there is only one image light source for one pixel, only one line can be drawn in the main scanning direction in one main scanning, so the sub-scanning and main scanning must be repeated for all scanning lines. By arranging a plurality of light emitting point light sources (for one pixel) in the intersecting direction, the number of scanning lines scanned simultaneously can be increased and the number of scans can be reduced. The arrangement direction of the light emitting point light sources may be a direction perpendicular to the main scanning direction X or a direction intersecting obliquely. The pixel density can be improved by making the directions intersect diagonally.
Such a light source of image light can be implemented by, for example, an LCOS (ELCOS, Liquid crystal on silicon, LCoS is a trademark) or a digital mirror device.
As the light source of the image light, it is preferable that the number of pixels (light emitting points) is large because fine drawing is possible, but it is not preferable that the apparatus is enlarged.
Therefore, in the case of a configuration in which a plurality of light emitting points are arranged as in the example shown in FIG.
In addition, a large number of light emitting points can be integrated by shifting the pixel centers.
As another configuration, for example, an acousto-optic element can be applied. The acousto-optic element to be applied is an acousto-optic element (light deflection element) that changes the light emission direction by an acousto-optic effect. Thereby, even if there is one emission point, it can be set as the structure equivalent to having a plurality of light emission points by emitting in a plurality of directions. As another example of utilization of the acoustooptic device, a configuration for adjusting the brightness of image light by applying an acoustooptic device (light modulation device) having a function of adjusting the altitude (brightness) of light, A configuration for adjusting the color of an image by applying an acousto-optic element (acousto-optic filter) having a function of selecting the wavelength (color) of the image may also be implemented.

[Measurement and projection real-time control system example 1]
As a control method for ensuring real-time measurement and projection, for example, a method of simultaneously performing measurement light and projection can be applied. In this case, for example, the measurement light is always emitted and received, and the measurement light received during a predetermined sampling period is detected. Image light is emitted and projected, including a time period that overlaps the sampling period in which the measurement light is detected.
Even in this method, the visible light cut filter described above prevents image light from entering the light receiving element.

[Measurement and projection real-time control method example 2]
As a control method for ensuring real-time measurement and projection, for example, when measuring light reception detection and image light projection are controlled by dividing the measurement light reception detection period and the image light projection period in time. A division control method can be applied. In this case, for example, a method of dividing each frame can be applied. That is, after one scan of the entire detection range is completed, the next one frame is a scan period for image projection. Even in this case, if the frame rate is 30 (fps), the time from detection to projection can be reduced to 1/30 (second). An image reflecting the detected three-dimensional distance information can be drawn after 1/30 (second) at the shortest.

[Example 3 of real-time control method for measurement and projection]
A time-division control method that controls the detection of the measurement light and the projection of the image light by time-division in one frame even in the time-division method that divides the measurement light reception detection period and the image light projection period in time. Can be applied.
The measurement light received at “1” is detected in the graph of the light reception detection period 401 of FIG. 4A, and the image light is emitted and projected at “1” in the graph of the image projection period 402 of FIG. Draw an image on the surface. As shown in FIG. 4, time division is performed so that the light reception detection period 401 and the image projection period 402 do not overlap in time. In addition, the light reception detection period 401 is divided into a plurality of times so that one frame of laser radar is scanned in synchronization with the scanning optical system. Similarly, the image projection period 402 is divided into a plurality of times so that scanning of image projection for one frame is performed in synchronization with the scanning optical system. This is for each resolution. The light reception detection period 401 and the image projection period 402 are provided so as to be disposed between each other. Note that, regardless of the example shown in FIG. 4, a control pattern of measuring once and drawing twice may be used. Here, “drawing once” refers to a case where the number of pixels is set to once with the above-described light source of image light having a plurality of pixels.
When a dual polygon is applied to a scanning optical system, when the number of polygon pairs is n, the time for one pair to scan is 1 / (30 * n) seconds, and 1 / (30 * n ) The light reception detection period 401 is provided for the scanning resolution executed in seconds.
Where image light may be detected as unnecessary light, even if a visible light cut filter is provided as described above, it may not be completely eliminated.
Thus, as described above, time division is performed so that the light reception detection period 401 and the image projection period 402 do not overlap with each other in time, thereby preventing light reception during measurement.
Although scanning is performed intermittently, drawing is not performed during scanning for measurement (image light is not emitted).
The emission of the measurement light is performed at least in the light reception detection period 401 and may be performed constantly.

[Application Example 1]
Description will be made along the configuration example and usage example shown in FIG.
FIG. 5 shows an apparatus configuration example in which the scanning optical system is a dual polygon 501. The laser light source device 503 that emits the measurement light 502 to the reflecting surface 501a of the dual polygon 501 corresponds to the elements 21, 22, and 23 in FIG. The light receiving device 506 that receives the measurement light 505 reflected and returned from the surrounding object such as the train vehicle 504 irradiated with the measurement light 502 corresponds to the elements 31 and 32 in FIG. The image light output device 508 that emits the image light 507 to the reflection surface 501a corresponds to the elements 43 and 44 in FIG.

The dual polygon 501 is an example of a mechanism that drives the reflection surface as the scanning surface 12a to change the angle.
The dual polygon 501 has a pair of reflecting surfaces 501a and 501b that are reflected twice when the measuring light 502 is emitted, when the measuring light 505 is received, and when the image light 507 is emitted. That is, the measurement light 502 is emitted from the laser light source device 503, reflected by the reflecting surface 501a, further reflected by the reflecting surface 501b, emitted outside the device, and irradiated on the peripheral object. The returned measurement light 505 is reflected by the reflecting surface 501b, and further reflected by the reflecting surface 501a and enters the light receiving device 506. The image light 507 exits from the image light output device 508, is reflected by the reflecting surface 501a, is further reflected by the reflecting surface 501b, is emitted outside the device, and is irradiated onto the projection range 509 of the peripheral object.
By applying the dual polygon 501 having a pair of reflecting surfaces 501a and 501b that reflects twice in this manner, the rear side of the laser light source device 503 and the like can be irradiated, and a compact device configuration can be obtained. Easy.

The dual polygon 501 in the example shown in FIG. 5 has three pairs of a pair of reflecting surfaces 501a and 501b, has a triangular cross section perpendicular to the rotation axis, and the tilt angle of the reflecting surface is between each pair. Differently, the scanning range is shifted in the sub-scanning direction, so that one frame of scanning is completed in one rotation. By making the dual polygon 501 have a triangular cross section having three pairs of reflecting surfaces 501a and 501b, a wide range of scanning is possible with a horizontal field angle 510 of 180 degrees at the maximum.
In this example, the optical axis of the measurement light and the optical axis of the image light are parallel. As the image projection range, all or part of the scanning range of the laser radar can be selected.

The projection data calculation processing unit 42 shown in FIG. 1 is based on the three-dimensional distance information of the projection range 509 on the surface of the peripheral object (train vehicle 504, etc.) detected by the function of the laser radar of this apparatus. The projection original image data to be projected onto the image is transformed into actual projection image data to be actually projected.
For example, when the surrounding environment as shown in FIG. 6 is scanned with a laser radar, three-dimensional distance information in which distance information Z is added to each XY coordinate as shown in FIG. 7 is acquired. FIG. 7 is a visual representation of 3D distance information on a 2D surface.
Such three-dimensional distance information is obtained as a distance image for each continuous frame.
Analyzing the distance image of each frame, edge detection, continuous surface recognition, road surface (ground, floor surface) recognition, object recognition on the road surface (ground, floor surface), grouping, road surface (ground, floor surface) ) Human recognition is also performed based on the size, shape, movement, etc. of the person from the above object. Recognition of buses, train cars, cars, etc. is performed in the same way. As for the moving object, the moving direction, moving locus, moving speed, etc. are calculated by following the continuous frames as shown in FIG.
A recognition unit that recognizes a person based on three-dimensional distance information detected by the function of the laser radar and other recognition units are configured in the central control unit 10 of FIG. The measurement light calculation processing unit 33 generates three-dimensional distance information and gives it to the central control unit 10.

Now, in the situation example shown in FIG. 5, it is assumed that the central control unit 10 recognizes the train vehicle 504, the home floor 511, and the human 512.
As a result, the original image data of the image 513 projected on the predetermined range of the side surface of the train vehicle 504 is input in advance from the data input / output unit 8 in FIG. 1 and stored in the original image data / projection condition storage unit 41. . In addition to the original image data, a condition for projecting an image to which range of an object is necessary, and a projection condition for specifying the condition is also stored in the original image data / projection condition storage unit 41. Here, it is assumed that a predetermined range excluding the vehicle connecting portion on the side surface of the train car is designated. In addition, it is assumed that an image obtained by orthogonally projecting an image based on original image data is a target projection image.
First, when the projection apparatus is installed at a position higher than the train vehicle 504, the projection range 509 is not in the horizontal direction of the projection apparatus, so the projection range 509 is inclined in the vertical direction, and the target orthographic image is displayed. The projected image is distorted.
Therefore, based on the angle of the projection range 509 on the side surface of the train vehicle 504 recognized by the central control unit 10, the actual projection image that actually projects the projection original image data to be projected on the projection range 509 by the projection data calculation processing unit 42. Perform transformation operations on data. Here, the projection data calculation processing unit 42 performs the deformation calculation so that the projection change due to the three-dimensional distance change (difference in angle) of the projection range 509 is reduced, that is, the target orthographic image is projected. Do. The calculation is performed at a predetermined time rate (for example, the same as the projection frame rate), and is executed so as to follow the situation changing in real time. Similarly, the distance / direction to the projection range 509, the time change of the distance / direction, the horizontal angle, and the time change of the horizontal angle are executed so as to follow the situation changing in real time.
Based on the actual projection image data calculated by the projection data calculation processing unit 42, the image light source (43) is driven to project an image onto the projection range 509.
As described above, a desired image can be projected onto a predetermined position of the train vehicle 504, and the projected image can be projected so as to move with the movement of the train so as not to move with respect to the train. It is also possible to execute a moving image program that performs the movement. For example, “Let's stop rushing” can be displayed on the door of the train vehicle 504. Further, it is possible to display an animation of a character expressing that it is dangerous to rush toward the door of the train vehicle 504.

The central control unit 10 recognizes the person 512 on the home floor 511, and instructs the projection data calculation processing unit 42 to generate the next actual projection image data based on this.
For example, the central control unit 10 instructs the projection data calculation processing unit 42 to provide a projection prohibited range in a range at least overlapping the range of the human 512 and the projection range 509 on the optical path of the image light 507. The projection data calculation processing unit 42 sets pixels in the projection prohibited range as non-light emitting pixels. “To make a pixel in the projection prohibited range a non-light emitting pixel” is to stop the whole area projection and generate actual projection image data that displays an image lacking the image 513 in the projection prohibited range. included. Further, “making a pixel in the projection prohibited range a non-light emitting pixel” includes generating actual projection image data in which a region where the entire image 513 is saved from the projection prohibited range is used as a projection region. In this case, the condition regarding the projection range included in the projection condition is a condition with selectivity. For example, there are conditions for projecting on any part of the entire side surface of the train vehicle, conditions for displaying on the side surface of the train vehicle, or the platform floor surface.
A marginal area may be provided around the range of the human 512 to set a projection prohibition range to ensure safety. Since the direction and speed in which the human 512 is moving can also be recognized, the projection prohibition range may be set with a relatively large margin area width in the moving direction.
As described above, in any case, the human 512 is not irradiated with the image light, so that the safety of the human eye is maintained.

Further, since the central control unit 10 recognizes the person 512 on the home floor surface 511, the central control unit 10 instructs the projection data calculation processing unit 42 to generate the next actual projection image data based thereon.
The projection data calculation processing unit 42 sets the observation point on the person 512 recognized by the recognition unit, and converts the original image data into a desired image so that the observation image when the projection image is observed from the observation point becomes a desired image. Deformation calculation is performed on actual projection image data to be actually projected.
For example, the movement of the train vehicle 504 (or / and the movement of the human 512) from a situation in which a human 512 as an observer is present in front of the center of the projection range 509 and a target orthographic image is projected on the projection range 509. If there is, the observation point shifts from the front of the center of the projection range 509, and the inclination of the projection plane of the projection range 509 viewed from the observation point changes, so that the image is distorted so that it is difficult for the human 512 to see. This is deformed and calculated in real time in the same manner as in the case of the change in the tilt of the projection plane viewed from the projection apparatus, and the intended image is displayed on the human 512.

[Application Example 2]
Description will be made along the configuration example shown in FIG.
As shown in FIG. 9, this example is an example of an apparatus configuration in which the scanning optical system is a dual polygon 501 as in the first application example. The difference is that in the application example 1 (FIG. 5), the optical axis of the measurement light 505 and the optical axis of the image light 507 are parallel, whereas in this example (FIG. 9), the light of the measurement light 505 is different. The axis and the optical axis of the image light 507A (507B) are not parallel but have an inclined angle.

  The scanning range of the image light 507A is included in the scanning range of the measurement light 505. In this case, the scanning of the measurement light 505 and the scanning of the image light 507A are performed by the same reflection surface 501a1 and reflection surface 501b1 in the same main scanning period. Since the relative angle θA between the two optical axes is known and fixed, it can be converted into the coordinate system of the measuring light 505 and an image of the image light 507A can be projected. For example, by rotating the dual polygon 501 in the rotation direction 901 indicated by the arrow in FIG. 9 and scanning the measurement light 505 and the image light 507A, the three-dimensional of the peripheral object obtained in advance by the measurement light 505 is obtained. By drawing an image obtained by deformation calculation based on the distance information by the image light 507A to be followed (without delaying the circulation), it is possible to provide real-time detection and projection.

On the other hand, the scanning range of the image light 507B and the scanning range of the measurement light 505 do not have a shared range. In this case, the scanning of the measurement light 505 and the scanning of the image light 507B are performed by different reflective surfaces 501a1 and 501a2 in the same main scanning period. Since the relative angle θB of both optical axes is known and fixed, it is possible to project the image by the image light 507B by converting into the coordinate system of the measurement light 505.
Projecting an image of the image light 507B on the scanning range of the measurement light 505 is based on the apparatus configuration including the laser light source device 503, the light receiving device 506, the image light output device 508B, and the dual polygon 501. This is possible by rotating the same around the same rotation axis 901. Further, an image obtained by performing a deformation operation based on the three-dimensional distance information obtained from one unit with respect to a certain peripheral area by installing a plurality of units having the apparatus configuration of the present example so that the scanning ranges of the measuring light 505 are different from each other. Can be carried out by projecting by the projection function of another unit installed in the peripheral area as a projectable range.
According to such a configuration, the image light 507B is less likely to enter the light receiving device 506, which is advantageous in measurement (there is little problem even if measurement and projection are performed simultaneously).

[Application Example 3]
Description will be made along the usage example shown in FIG.
FIG. 10 shows the module 1002 of the drone 1001 equipped with the above-described projection device with a radar laser function. The projection device is moved by flight and the surroundings are scanned with a radar laser to bring a desired image to a desired position. To project. As an example, a scene in which an image 1004 is projected on a wall surface 1003 is shown. An image (1004) obtained by performing a deformation operation based on the three-dimensional distance information of the peripheral object that changes as the drone 1001 rotates and moves is projected.
For example, a projection apparatus with a radar laser function having the apparatus configuration shown in FIG. Turning the device configuration including the laser light source device 503, the light receiving device 506, the image light output device 508 B, and the dual polygon 501 around the same rotational axis 901 as the dual polygon 501 is a rotation of the drone 1001. Can also be realized. The module 1002 may be rotated with respect to the drone 1001 main body.

[Others]
(1) You may mount the cooling device which cools the light source (22) of measurement light, and the light source (43) of image light with respect to the above apparatus structure. That is, since the light source part generates heat, it is preferable to employ a configuration in which it is cooled by, for example, a heat pipe, a Peltier cooler, a Stirling cooler, or the like. The cooling device may be combined with a device that cools other parts (for example, an actuator that drives the light receiving element of the measurement light receiving unit 32 or an optical system such as the driving unit 12b).

(2) In terms of human dynamic recognition ability, normally, if an image displayed in a time of 1/30 second or less is continuous content, it is recognized as a smooth moving image. Even if this unit time is about 1/8 second, it can be generally recognized as a moving image. Therefore, assuming that the number of pairs of reflecting surfaces of polygons such as the reflecting surfaces 501a and 501b in the above-described dual polygon 501 is n, the time for one pair to scan is 1 / (30 * Assuming n) seconds, the time required for n pairs to draw one picture is 1/30 second, and a smooth moving image can be projected. Similarly, even in 1 / (8 * n) seconds, a video that can be recognized as a moving image can be projected.

(3) An advertisement can be displayed by this apparatus. Advertisements can be projected on the body of a running train or car.
(4) The device can warn of danger. For example, this device, which is fixedly arranged, can detect a car or the like and project a display such as “Tomare” to alert a pedestrian to the road surface.

(5) The method of mounting / installing the apparatus may be stationary or movable. It can be installed on a fixed structure such as a building, utility pole, wall, etc. (in this case, the main use case is traffic control measures-danger warning).
In the case of a concert hall or the like, it is temporarily installed, but it is fixed and is substantially the same as the previous example.
In addition, as a moving body in which the present apparatus is installed, an aircraft / flying body (from a large one, a drone or a multicopter may be used), an automobile, and the like are also possible. For example, for drones, disaster guidance is an example of use. The drone enters the disaster area and accident scene, and while displaying the surrounding environment, displays a message such as “Click here” to guide the evacuation route to the victims.

(6) A plurality of devices can be linked. That is, a plurality of projection devices with the laser radar function described above are provided, and projection is performed on the projection range based on the three-dimensional distance information of the projection range of the surface of the peripheral object detected by the laser radar function of one of the projection devices. A projection data calculation processing unit configured to perform transformation calculation on actual projection image data to be actually projected on the original image data for projection, and another projection device drives a light source of its own image light based on the actual projection image data; A form of a projection system that projects an image onto a projection range can be implemented. For example, the positions of the first projection apparatus and the second projection apparatus are set in advance (or at least one of them is in the other measurement scanning range so as to grasp the position), and then two positions are set. It is possible to create actual projection image data or actually project after integrating the measurement results of the projection apparatus. Of course, a configuration in which one is fixedly installed and the other is mounted on a moving body such as a drone may be employed. Implemented in any form when the projection data calculation processing unit is provided in each projection device, in some projection devices, or in a control station that communicates with each projection device without being provided in any projection device it can.

(7) An image indicating the scanning range (for example, a line or a frame) can be projected onto the scanning range of the laser radar by the present apparatus by the projection function of the present apparatus to indicate the scanning range of the laser radar. This can be effectively used for positioning the scanning range of the laser radar.

8 Data Input / Output Unit 9 Operation Unit 10 Central Control Unit 11 Driving Unit Control Unit 12 Scanning Optical System 12a Scanning Surface 12b Driving Unit 21 Measuring Light Control Unit 22 Measuring Light Light Source 23 Emitting Optical System 31 Receiving Optical System 32 Measuring Light Receiving Unit 33 Measurement light calculation processing unit 41 Original image data / projection condition storage unit 42 Projection data calculation processing unit 43 Image light source 44 Projection optical system 201 Mirror 202 Measurement light 203 Laser light source device 204 Measurement light 205 Light receiving device 206 Image light 207 Image light output Device 208 Condensing lens 209 Visible light cut filter 301 Image light output device 401 Light reception detection period 402 Image projection period 501 Dual polygon 502 Measurement light 503 Laser light source device 504 Train vehicle 505 Measurement light 506 Light reception device 507 Image light 507A Image light 507B Image light 508 Image light output device 508 Image light outputting apparatus 508B image light outputting apparatus horizontal angle 511 of 509 projection range 510 measurement light home floor 512 human 513 image 514 projected range 1001 drones 1002 module 1003 wall 1004 image

Claims (17)

A projection apparatus having a laser radar function and a video projection function, wherein a scanning optical system that scans laser beam measurement light and a scanning optical system that scans image light of a projected image are shared . The projection apparatus according to claim 1, wherein the light source of the image light is capable of distributing a plurality of pixel lights forming a pixel row in a sub-scanning direction intersecting with a main scanning direction by the scanning optical system. The light source of the image light is an acoustooptic that changes a light emission direction by an acoustooptic effect so as to be able to distribute a plurality of pixel lights that form a pixel row in a sub-scanning direction intersecting with a main scanning direction by the scanning optical system. The projection apparatus according to claim 1, comprising an element. The scanning optical system has a mechanism that drives the reflection surface to change the angle, and the measurement light and the image light are reflected and scanned by the reflection surface. A projection device according to claim 1. The projection apparatus according to claim 4, wherein the scanning optical system has a pair of reflecting surfaces that are reflected twice when the measurement light is emitted and received and when the image light is emitted. Projection data that transforms the original image data for projection onto the projection range into actual projection image data that is actually projected based on the three-dimensional distance information of the projection range on the surface of the peripheral object detected by the function of the laser radar With an arithmetic processing unit,
The projection apparatus according to claim 1, wherein an image is projected onto the projection range by driving a light source of the image light based on the actual projection image data. The projection apparatus according to claim 6, wherein the projection data calculation processing unit performs the deformation calculation so that a change in projection due to a change in a three-dimensional distance of the projection range is reduced. A recognition unit for recognizing a person based on three-dimensional distance information detected by the function of the laser radar;
A control unit for instructing the projection data calculation processing unit by providing a projection prohibition range in a range where the human range recognized by the recognition unit overlaps the projection range;
The projection device according to claim 6, wherein the projection data calculation processing unit sets pixels in the projection prohibited range as non-light emitting pixels. It has a recognition unit that recognizes humans based on the three-dimensional distance information detected by the laser radar function.
The projection data calculation processing unit sets the observation point for the person recognized by the recognition unit, and converts the original image data so that the observation image when the projection image is observed from the observation point becomes a desired image. The projection apparatus according to any one of claims 6 to 8, wherein a deformation calculation is performed on actual projection image data to be actually projected. The projection device according to claim 1, wherein the light source of the image light is a visible light source. The projection device according to any one of claims 1 to 10, wherein a visible light cut filter is disposed in front of a light receiving element that realizes the function of the laser radar. The optical axis of the measurement light and the optical axis of the image light have an angle that is not parallel.
1. The projection apparatus according to claim 1. The projection apparatus according to claim 12, wherein the scanning range of the image light is included in the scanning range of the measurement light. The projection apparatus according to claim 12, wherein the scanning range of the image light and the scanning range of the measurement light do not have a shared range. The light reception detection period of the measurement light and the light projection of the image light are controlled by time division in one frame so that the light reception detection period of the measurement light and the light projection period of the image light do not overlap with each other in time. The projection device according to any one of claims 1 to 14. The projection apparatus according to claim 1, further comprising a cooling device that cools the light source of the measurement light and the light source of the image light. A plurality of the projection devices according to any one of claims 1 to 5 are provided, and based on the three-dimensional distance information of the projection range of the surface of the peripheral object detected by the laser radar function of one of the projection devices. A projection data calculation processing unit that performs a transformation calculation on the original image data for projection to be projected onto the projection range into actual projection image data to be actually projected, and the other projection device uses the actual projection image data as its own image. A projection system that drives a light source of light to project an image onto the projection range.