JP5548145B2 - All-around observation optical system and all-around observation system including the same - Google Patents

Description

  The present invention relates to an all-around observation optical system for observing an observation object positioned on a side, such as a tubular inner wall surface, over the entire periphery, and an all-around observation system including the same.

2. Description of the Related Art Industrial and medical endoscopes and observation devices are widely used as devices for observing tubular members provided in machines, facilities, etc., internal organs, and the like. However, in the observation of such a tubular body, it is required that the observation object located on the side can be observed over the entire circumference.
Conventionally, as a configuration capable of observing the observation object positioned on the side over the entire circumference, for example, the endoscope described in the following prior documents 1 and 2 and the inner surface imaging of the tubular body described in Patent Document 3 can be used. There is what was used for the device.

FIG. 8 is an explanatory diagram showing a configuration example of a main part for observing the observation object located on the side over the entire circumference in the endoscope described in Patent Document 1.
As shown in FIG. 8, the endoscope described in Patent Document 1 has a motor 51, a mirror 52, an imaging unit 53, and a cylindrical observation window 54 at the tip. The mirror 52 is attached to the rotating shaft 51 a of the motor 51, and reflects light from the side that has passed through the observation window 54 and guides it in the direction of the imaging unit 53. And the endoscope of patent document 1 provided with the structure shown in FIG. 8 rotates the mirror 52 via the motor 51, passes the observation window 54, and reflects the light reflected by the mirror 52 by the imaging part 53. FIG. By taking an image with an imaging element (not shown) provided on the side, the observation object located on the side can be observed in a time-division manner over the entire periphery.

FIG. 9 is an explanatory diagram showing a configuration example of a main part for observing the observation object located on the side over the entire circumference in the endoscope described in Patent Document 2. FIG.
As shown in FIG. 9, the endoscope described in Patent Document 2 includes a convex mirror 61 formed in a rotationally symmetric shape such as a cone, an imaging unit 62 disposed at a position facing the convex mirror 61, and a cylindrical shape. The observation window 63 is provided. The endoscope described in Patent Document 2 images the light that passes through the observation window 63 and is reflected by the rotationally symmetrical convex mirror 61 with an imaging element (not shown) provided in the imaging unit 63. The observation object located on the side can be observed simultaneously over the entire circumference. In addition, the endoscope described in Patent Document 2 has a hole 61a at the apex of the rotationally symmetrical convex mirror 61 so that an observation object positioned forward can be observed through the hole 61a. It has become.

FIG. 10 is an explanatory view showing a configuration example of a main part for observing the observation object located on the side over the entire periphery in the tubular body inner surface photographing device described in Patent Document 3, and (a) is along the axis. Sectional drawing, (b) is a diagram showing the reflecting mirror member shown in (a) from the axial direction.
As shown in FIG. 10, the inner surface imaging device described in Patent Document 3 includes three or more N pieces arranged so as to surround the central axis of the tubular body at positions facing the tubular region on the circumferential surface of the tubular body. Reflective mirror member 71 having a flat reflecting surface 71a, and N lenses 72 and a one-dimensional image sensor arranged in a direction along the circumferential direction of the tubular body at positions facing each reflecting surface 71a. 73. The endoscope described in Patent Document 3 divides the light from the entire circumferential region of the side observation target into N regions by N reflecting surfaces 71 a, and N lenses 72. By condensing and picking up images with N one-dimensional image sensors 73, a one-dimensional image of the observation object located on the side can be obtained simultaneously over the entire circumference. Further, in the inner surface imaging device described in Patent Document 3, the effective field of view of the one-dimensional image sensor 73 including the lens 72 is determined according to the number of divisions in the circumferential direction of the inspection target.

Japanese Patent Laid-Open No. 05-40231 JP 2002-233494 A Japanese Patent Laid-Open No. 08-261947

  However, as in the endoscope described in Patent Document 1, in the configuration in which the observation object positioned on the side is imaged in a time-division manner over the entire periphery by rotating the mirror 52, all the observation objects positioned on the side are captured. It is impossible to observe the entire periphery at the same time, and it is necessary to repeat operations such as the rotation of the mirror 52 and the imaging until an image over the entire periphery is obtained. In addition, the tip portion is enlarged and the cost is increased because a driving member such as a motor 51 for rotating the mirror 52 is required.

On the other hand, if it comprises the rotationally symmetrical convex mirror 61 like the endoscope of patent document 2, the observation object located in a side can be observed simultaneously over the perimeter, and patent document The driving member such as the motor 51 in the endoscope according to 1 is not necessary.
However, in the configuration including the rotationally symmetric convex mirror 61 such as the endoscope described in Patent Document 2, the image is reduced and distortion is increased toward the periphery of the observation field. In addition, as in the endoscope described in Patent Document 2, in the configuration in which an image covering the entire periphery of the observation target located on the side is simultaneously captured by one imaging unit 62, compared to the endoscope described in Patent Document 1. As a result, the resolution of the image sensor deteriorates as the area of the image sensor that can be used to image the observation object having the same area decreases.

Further, as in the inner surface photographing apparatus described in Patent Document 3, light from the entire circumferential direction of the observation target is divided into N areas by N reflecting surfaces 71 a and collected by N lenses 72. If light is emitted and N one-dimensional imaging elements 73 are used for imaging, a one-dimensional image of the observation object located on the side can be obtained simultaneously over the entire circumference. Moreover, since each reflecting surface 71a is flat, the image distortion in the peripheral part of an observation visual field like the structure provided with the rotationally symmetrical convex mirror 61 in the endoscope described in Patent Document 2 does not occur.
However, in the inner surface photographing device described in Patent Document 3, it is a one-dimensional image that can be obtained simultaneously over the entire circumference, and in order to observe as a two-dimensional image, the inner surface photographing device is arranged in the longitudinal direction of the tube. It takes a long time to repeat the process of moving a predetermined amount, taking a one-dimensional image, and joining the taken one-dimensional image.
Moreover, in the inner surface imaging device described in Patent Document 3, as described above, the effective field of view of the one-dimensional image sensor 73 including the lens 72 is determined according to the number of divisions of the circumferential region to be inspected. . That is, in the inner surface imaging device described in Patent Document 3, the distance from the reflecting surface 71a is equal to the distance from the central axis of the tubular body to the reflecting surface 71a so that the starting point of the visual field coincides with the central axis of the tubular body. A pupil is provided at the position. However, in that case, an area where light enters the reflecting surface 71a becomes large. In order to acquire a two-dimensional image at the same time, it is necessary to enlarge the reflecting surface 71a in the longitudinal direction of the axis and use an image pickup device corresponding to it, but a pupil is provided at a position away from the reflecting surface 71a. In this configuration, the reflecting surface 71a becomes very large, and the diameter of the tip portion becomes large.

  The present invention has been made in view of such a conventional problem, without increasing the diameter of the tip, without simultaneously distorting the image of the observation object over the entire side, An object of the present invention is to provide an all-around observation optical system that can be obtained with high resolution and an all-around observation system including the same.

  In order to achieve the above object, an omnidirectional observation optical system according to the present invention forms a predetermined pyramid surface symmetric with respect to a predetermined axis, and is used for lateral observation with each symmetric with respect to the predetermined axis. 3 is arranged in the vicinity of the first pupil position, and the light from the observation target over the entire circumference of the side is divided into light from the observation target for each of three or more side regions and reflected backward 3 Reflecting surfaces that are equal to or larger than the surface and the second pupil position for side observation that is arranged on the predetermined axis and that is symmetrical with respect to the predetermined axis, respectively. A relay optical system for enlarging and relaying the pupil at the first pupil position, and three or more side-view aperture stops arranged at the respective pupil positions conjugate to the first pupil position for each lateral observation And three or more sets of imaging optical systems for side observation respectively arranged corresponding to the respective aperture diaphragms for side observation, Is characterized by having an imaging device for to each arranged three or more side-looking corresponding to the respective imaging optical system for lateral observation.

  In the omnidirectional observation optical system of the present invention, it is preferable that the three or more side observation aperture stops are respectively disposed at the respective second pupil positions for side observation.

  In the omnidirectional observation optical system of the present invention, it is preferable that each of the reflecting surfaces is inclined at a predetermined angle within a range of 45 ° ± 15 ° with respect to the predetermined axis.

  In the omnidirectional observation optical system of the present invention, each of the reflecting surfaces is provided on a pyramid surface of a pyramid having a flat surface on the top of the head, and the flat surface of the top of the head surrounded by each of the reflecting surfaces. An opening is provided in the vicinity of the first pupil position for forward observation located on the predetermined axis, and the relay optical system further includes a front located on the predetermined axis. The pupil position at the first pupil position for front observation is enlarged and relayed to the second pupil position for observation, and the pupil position is conjugate with the first pupil position for front observation. An aperture stop for forward observation, an imaging optical system for forward observation arranged corresponding to the aperture stop for forward observation, and an imaging optical system for forward observation It is preferable to have an imaging device for forward observation.

  In the omnidirectional observation optical system of the present invention, it is preferable that the aperture diaphragm for front observation is arranged at the second pupil position for front observation.

  In the omnidirectional observation optical system of the present invention, it is preferable that each of the reflecting surfaces is provided with a reflecting film on each of the pyramidal surfaces of the pyramid member.

  In the omnidirectional observation optical system of the present invention, each of the reflecting surfaces is provided with a reflecting film on each of the pyramidal surfaces of a transparent pyramidal member having a flat surface at the top of the head, and the opening is formed of the transparent It is preferable that it is comprised by the flat surface of the said top part of a perfect pyramid member.

  In the omnidirectional observation optical system of the present invention, it is preferable that each of the reflecting surfaces is constituted by a plate-like mirror surface.

  Further, in the all-around observation optical system of the present invention, it is further arranged in a cylindrical shape that is arranged coaxially with the predetermined axis so that light from the observation object over the entire circumference of the side is incident on the respective reflecting surfaces. It is preferable to have a transparent window.

  In addition, the omnidirectional observation system according to the present invention joins the omnidirectional observation optical system according to any one of the present invention and observation target images in adjacent regions captured by the respective side observation imaging elements. A panorama image synthesis processing unit that creates a panoramic image of the observation target over the entire circumference of the side, and a panorama that displays the panoramic image of the observation target that covers the entire circumference of the side created by the panoramic image synthesis processing unit. It has an image display part.

  According to the present invention, there is provided an all-around observation optical system capable of acquiring an image of an observation object that covers the entire circumference of the side without distorting the tip portion at the same time without distorting the image. Is obtained.

It is explanatory drawing which shows the basic composition of the omnidirectional observation optical system concerning 1st embodiment of this invention. It is explanatory drawing which shows one structural example which actualized the all-around observation optical system of 1st embodiment more, (a) is sectional drawing which follows an axis, (b) is the 1st pupil and reflective surface for side observation The figure which shows the side observation object area | region corresponding to each positional relationship and each reflective surface from an axial direction, (c) is the 1st pupil for side observation shown in (b), and the imaging unit for side parts The figure which shows a positional relationship from an axial direction, (d) is a figure which shows notionally an example of the panorama image which comprised the image of each observation object area | region imaged with the image sensor for side observation. It is explanatory drawing which shows one structural example of the omnidirectional observation optical system concerning 2nd embodiment of this invention, (a) is sectional drawing which follows an axis | shaft, (b) is the 1st pupil and reflective surface for side observation FIG. 7C is a diagram showing the positional relationship between the first pupil for front observation and the aperture from the axial direction, and FIG. 5C is a second pupil for side observation, a side imaging unit, and a second for front observation. It is a figure which shows the positional relationship of this pupil and the imaging unit for front from an axial direction. It is a conceptual diagram of the pipe camera type inner surface observation system provided with the structure of the all-around observation optical system of this invention. It is a conceptual diagram of the flexible mirror system for pipe observation provided with the structure of the all-around observation optical system of this invention. It is a conceptual diagram of the rigid endoscope system for pipe observation provided with the structure of the all-around observation optical system of this invention, or the observation system for pipe observation. FIG. 2 is a conceptual diagram of a screw hole observation rigid endoscope system or a screw hole observation observation system having a configuration of the omnidirectional observation optical system of the present invention, where (a) is a diagram illustrating an example thereof, and (b) is another example. FIG. FIG. 10 is an explanatory diagram illustrating a configuration example of a main part for observing an observation target located on a side over the entire periphery in the endoscope described in Patent Document 1; FIG. 11 is an explanatory diagram illustrating a configuration example of a main part for observing an observation object positioned on a side over the entire periphery in an endoscope described in Patent Document 2; In the inner surface imaging device of the tubular body described in Patent Document 3, an explanatory diagram showing a configuration example of a main part for observing the observation object located on the side over the entire periphery, (a) is a sectional view along the axis, (b) is a view showing the reflecting mirror member shown in (a) from the axial direction. It is explanatory drawing which shows one structural example from an axial direction which images simultaneously the image over the perimeter of the observation object located in the side which this applicant examined in the creation process of this invention. In the explanatory diagram showing another configuration example for simultaneously capturing images over the entire circumference of the observation object located on the side examined by the applicant in the creation process of the present invention, (a) is a diagram seen from the axial direction, b) is a diagram showing the arrangement of the pair of side-viewing optical systems and imaging elements shown in FIG. It is explanatory drawing which shows the relationship between the magnitude | size of the diameter of an observation object when the pupil position used as the base point of a visual field is located in the center of a periphery, and the overlapping degree with the mutually adjacent observation object area | region.

Prior to the description of the embodiments of the present invention, the creation process of the present invention and the effects of the present invention will be described.
First, the applicant of the present application has conceived a configuration example as shown in FIGS. 11 and 12 as a configuration for simultaneously capturing images over the entire circumference of the observation object positioned on the side, and has studied and considered these.
In the configuration example of FIG. 11, a plurality of imaging units 81 each including a lens 81 a and an imaging element 81 b are arranged radially about the axis O, and the imaging elements 81 are provided with observation targets located laterally. 81b is configured to take an image.
Further, in the configuration example of FIG. 12, a plurality of side-viewing optical systems 91 each having a mirror 91b that reflects light from the side and guides it in the direction of the image sensor 92 are radially arranged around the axis O. An image pickup element 92 that images the image of the observation target that is formed via the respective side-viewing optical systems 91 is arranged around the axis O so as to correspond to each side-viewing optical system 91. A plurality of the image pickup devices 92 are arranged on the side, and each image pickup device 92 picks up an image of the observation object located on the side. In FIG. 12, reference numerals 91a and 91c denote lenses.

  If configured as shown in FIGS. 11 and 12, it is possible to simultaneously observe the image of the observation object over the entire periphery on the side.

  However, when configured as shown in FIGS. 11 and 12, the pupil position P, which is the base point of the visual field, is away from the axis O, which is the center of the circumference. As the pupil position P, which is the base point of the visual field, is further away from the center of the circumference, the overlapping degree of the observation target regions adjacent to each other in the images captured through the adjacent imaging elements becomes more lateral. It changes greatly depending on the size of the diameter of the object to be observed, and adversely affects the observation over the entire circumference.

  For example, as shown in FIGS. 11 and 12, when observing a tubular body having a radius of R1, the observation target regions adjacent to each other can be observed without overlapping, the radius of radius R2 larger than R1 is larger. In the case of observing the tubular body, the overlapping degree of the observation target regions adjacent to each other increases as the radius of the tubular body increases. On the other hand, when a tubular body having a radius R3 smaller than R1 is observed, an unobservable region is generated.

Further, in the configuration of FIG. 11, since the respective imaging units 81 are arranged radially, the diameter becomes too large, and it is difficult to observe the inside of the tubular body having a small diameter.
11 and 12, when the outer diameter is reduced, the area of the image sensor is reduced, and thus a high-resolution observation image is obtained as in the endoscope described in Patent Document 2. I can't.

  In order to eliminate the change in the overlapping degree of the observation target regions adjacent to each other depending on the size of the diameter of the observation target positioned on the side and to avoid adversely affecting the observation over the entire circumference, FIG. As shown, it is desirable to position the pupil position P, which is the base point of the visual field, at the center O of the circumference. However, if the pupil position P is provided in the vicinity of the center O of the circumference, it is difficult to dispose a lens or an image sensor for forming an image of the observation target.

  After such examination and consideration, the applicant has come up with the all-around observation optical system of the present invention. The omnidirectional observation optical system according to the present invention has a predetermined pyramid surface symmetric with respect to a predetermined axis, and each of the first pupil positions for lateral observation that is symmetric with respect to the predetermined axis. Three or more reflecting surfaces that are arranged in the vicinity and divide the light from the observation target over the entire circumference of the side into the light from the observation target for each of the three or more regions on the side and reflect back; The pupils at the first pupil positions for side observation are enlarged and relayed to the second pupil positions for side observation that are arranged on the predetermined axes and are symmetrical with respect to the predetermined axes, respectively. At least three relay optical systems arranged at the pupil position conjugate with the first pupil position for each side observation (for example, the second pupil position for each side observation). Side-viewing aperture stop, and three or more sets of side-view image formations corresponding to the respective side-viewing aperture stops It has a Manabu system, an imaging device for in response to the imaging optical system for side-viewing each respective arranged three or more side-looking.

  According to the above configuration, the relay optical system reduces the pupil at the second pupil position for side observation to reduce the first pupil position for side observation when the optical path follows the optical path from the image side to the object side. Relay to Accordingly, the pupil at the first pupil position for side observation is closer to the predetermined axis than the pupil at the second pupil position for side observation. However, in an apparatus for observing a tubular body, generally, when observing the tubular body, a predetermined axis is made to coincide with the center of the circumference formed by the surface of the observation object over the entire circumference. Therefore, according to the above configuration, the first pupil position for lateral observation, which is the base point of the visual field, can be brought as close as possible to the center of the circumference formed by the surface of the observation target over the entire circumference. As a result, depending on the size of the diameter of the observation object located on the side, the change in the degree of overlap of the observation object areas adjacent to each other should be minimized to avoid adversely affecting the observation over the entire circumference. Will be able to.

  If the reflecting surface is provided at the first pupil position for lateral observation as in the above configuration, the reflecting surface can be brought close to a predetermined axis, and the area where light enters the reflecting surface can be minimized. can do. For this reason, a reflective surface can be reduced in size and the diameter of the front-end | tip part which incorporates a reflective surface can be made small. As a result, it is possible to observe a very small observation object such as a screw hole. Moreover, it becomes easy to obtain an arrangement space for the illumination means and the like around the tip.

  If the relay optical system that enlarges the pupil at the first pupil position for side observation and relays it to the second pupil position for side observation is provided as in the above configuration, the reflecting surface is built-in. An imaging element having a large area can be arranged at a position away from the reflecting surface while the diameter of the tip portion is kept small, and a high-resolution observation image can be obtained.

As the miniaturized reflecting surface is arranged close to a predetermined axis, it becomes difficult to arrange an optical system and an image sensor corresponding to the reflecting surface because of the size that these optical members can be manufactured. come. Further, even if an optical system and an image sensor that are downsized in accordance with the size of the reflecting surface can be arranged, then, as in the endoscope described in Patent Document 2, the inner structure described in Patent Document 1 is used. Compared with a endoscope, the area of each image sensor that captures an observation target having the same area is reduced, so that the resolution of the image sensor is deteriorated.
In order to increase the resolution of the image sensor, it is necessary to increase the area of the image sensor. However, according to the omnidirectional observation optical system of the present invention, the relay optical system enlarges the pupil at the first pupil position for side observation and relays it to the second pupil position for side observation. The area of the element can be increased and the resolution of the observation image can be increased.

In the omnidirectional observation optical system of the present invention, it is preferable that each reflecting surface is inclined at a predetermined angle within a range of 45 ° ± 15 ° with respect to a predetermined axis.
If the inclination angle of each reflecting surface is a predetermined angle within a range of 45 ° ± 15 °, light from any direction within the predetermined visual field on the side can be reflected toward the rear relay optical system. .

  In the omnidirectional observation optical system of the present invention, each reflecting surface is provided on a pyramid surface of a pyramid having a flat surface on the top of the head, and an opening is formed on the flat surface of the top of the head surrounded by each reflecting surface. The provided aperture is positioned in the vicinity of the first pupil position for forward observation located on a predetermined axis. The relay optical system is further configured to enlarge and relay the pupil at the first pupil position for front observation to the second pupil position for front observation located on a predetermined axis. Further, it corresponds to an aperture stop for forward observation arranged at a pupil position conjugate to the first pupil position for forward observation (for example, the second pupil position for forward observation), and an aperture stop for forward observation. It is preferable to have an imaging optical system for forward observation arranged corresponding to the imaging optical system for forward observation and an imaging element for forward observation arranged corresponding to the imaging optical system for forward observation.

In order to reduce the size of the tip portion, it is desirable that the pupils at the first pupil positions for the respective side observations are as close as possible to the predetermined axes. However, if the pupils are too close to the predetermined axes, the side observation openings are opened. The pupil is enlarged by the relay optical system to the second pupil position for side observation away from the predetermined axis to such an extent that an aperture, an imaging optical system for side observation, and an image sensor for side observation can be arranged. It becomes difficult. For this reason, the pupils at the first pupil positions for the respective side observations have to be provided at positions somewhat away from the predetermined axes even if they are brought closer to the predetermined axes. On the other hand, when observing the inside of the tubular body, depending on the application, it may be necessary to observe the observation object in front as well as the observation object all around the side.
Therefore, each reflecting surface is provided on a pyramid surface of a pyramid having a flat surface at the top of the head, and the flat surface of the top surrounded by each reflecting surface is configured to be an opening. Then, the opening is positioned in the vicinity of the first pupil position for forward observation located on a predetermined axis. Further, the relay optical system is further provided with a function of enlarging and relaying the pupil at the first pupil position for front observation to the second pupil position for front observation located on a predetermined axis. Then, a front observation aperture stop is provided at a pupil position conjugate to the front observation first pupil position (for example, the front observation second pupil position), and corresponding to the front observation aperture stop. Corresponding to the imaging optical system for the front observation and the imaging optical system for the front observation, the imaging device for the front observation is provided, respectively, so that the front observation object can be observed through the opening.
In this way, it is possible to simultaneously observe the observation object over the entire periphery on the side and the observation object in front.

In the omnidirectional observation optical system of the present invention, it is preferable that each reflecting surface is formed by providing a reflecting film on each pyramid surface of the pyramid member.
Alternatively, each reflecting surface is formed by providing a reflecting film on each pyramid surface of a transparent pyramid member having a flat surface at the top of the head, and the opening is formed by a flat surface at the top of the transparent pyramid member. Is preferred.
If each reflecting surface is formed by providing a reflecting film on each pyramid surface of the pyramid member, the positional relationship between the reflecting surfaces can be maintained with high accuracy.

Moreover, in the all-around observation optical system of this invention, you may comprise each reflective surface with a plate-shaped mirror surface, respectively.
If each reflecting surface is formed of a plate-like mirror surface, the tip portion can be reduced in weight.

Further, in the all-around observation optical system of the present invention, a cylindrical transparent window that is arranged coaxially with a predetermined axis and allows light from the observation target over the entire circumference to be incident on the respective reflecting surfaces. It is preferable to have.
If a cylindrical transparent window is provided, it is possible to simultaneously take in light from the observation object over the entire circumference of the side and cut off unnecessary light from a region out of the field of view in the axial direction. Further, since the dirt on the mirror portion can be eliminated, cleaning at the time of maintenance is also simplified.

The omnidirectional observation system according to the present invention joins the omnidirectional observation optical system according to any one of the present invention and images of observation objects in adjacent regions captured by the respective side observation imaging elements. A panoramic image composition processing unit that creates a panoramic image of the observation target over the entire circumference of the side, and a panorama image display unit that displays the panoramic image of the observation target over the entire circumference of the side created by the panoramic image synthesis processing unit. Have.
Thereby, it is possible to realize an omnidirectional observation system that can acquire an image of the observation object over the entire circumference on the side without distorting the image at the same time without increasing the diameter of the tip.

First Embodiment FIG. 1 is an explanatory view showing a basic configuration of an omnidirectional observation optical system according to a first embodiment of the present invention, and (a) is a sectional view along an axis.

  As shown in FIG. 1, the omnidirectional observation optical system of the first embodiment is for three or more sets of side observations corresponding to three or more reflecting surfaces 1a, a relay optical system 2, and each reflecting surface 1a. Imaging unit 3 (only one is shown for convenience in the figure). In FIG. 1, reference numeral 4 denotes a cylindrical transparent window, 5 denotes a cylindrical housing, and 6 denotes a side observation illumination unit that illuminates the observation object located on the side over the entire circumference.

  The reflection surface 1a is configured by providing a reflection film on each pyramid surface symmetrical with respect to the axis O in the pyramid prism 1. Each reflecting surface 1a is inclined at a predetermined angle within a range of 45 ° ± 15 ° with respect to the axis O in the vicinity of the first pupil position P1 for side observation symmetrical with respect to the axis O. Are arranged. And each reflective surface 1a divides | segments the light from the observation object over the circumference of a side into the light from the observation object for every three or more area | regions of a side, and reflects it back (right side in FIG. 1). .

The relay optical system 2 includes an intermediate image forming lens 2a and a pupil image forming lens 2b, and is disposed on the axis O.
The intermediate image forming lens 2a forms an image at the intermediate image forming position I1 with light from the observation target for each of the lateral regions divided and reflected by at least the respective reflecting surfaces 1a.
The pupil imaging lens 2b has a larger diameter than the intermediate image imaging lens 2a, and is laterally symmetric with respect to the axis O and farther from the axis O than the first pupil position P1 for lateral observation. The pupil at the first pupil position P1 for side observation is enlarged and projected on the second pupil position P2 for observation.

Each of the imaging units 3 for side observation includes an aperture stop 3a for side observation, an imaging optical system 3b for side observation, and an imaging element 3c for side observation.
The aperture stop 3a for side observation is arranged at each second pupil position P2 for side observation.
The imaging optical system 3b for side observation is disposed at a predetermined position symmetrical to the axis O corresponding to each aperture stop 3a for side observation. Then, the light from the observation target for each of the lateral regions reflected backward by the respective reflecting surfaces 1a and relayed via the relay optical system 2 is subjected to a final imaging position I2 symmetric with respect to the axis O. To form an image.
The imaging devices 3c for side observation are respectively arranged at the final imaging position I2 symmetric with respect to the axis O, corresponding to the respective aperture diaphragms 3a for side observation.

The cylindrical transparent window 4 is disposed coaxially with the axis O at the tip, and makes light from the observation target over the entire circumference enter the respective incident surfaces.
The housing 5 is composed of a cylindrical member arranged coaxially with the axis O, and includes a relay optical system 2 and an imaging unit 3 therein.
The illumination unit 6 is annularly arranged at the tip of the housing 5 and illuminates the observation object located on the side over the entire circumference.

Regarding the operational effects of the omnidirectional observation optical system of the first embodiment configured as described above, the pupil at the first pupil position P1 for side observation and the second pupil for side observation in the configuration of FIG. A description will be given comparing the size of the pupil at the position P2 and the distance from the axis O to the center of the pupil.
The light from the observation object over the entire circumference of the side is divided and reflected by the respective reflecting surfaces 1a into light from the observation object for each of three or more regions, and each intermediate imaging position I1 by the relay optical system 2. After the intermediate image is formed, the final observation is performed through the side observation aperture stop 3a and the side observation imaging optical system 3b disposed at the second pupil position P2 for side observation. The image is formed at the image position I2 and imaged through the imaging device 3c for side observation.
At this time, the relay optical system 2 relays the pupil at the first pupil position P1 for side observation to the second pupil position P2 for side observation at an enlargement magnification β (where 1 <β). .
Here, r _{p is} the distance from the axis O to the center of the pupil at the first pupil position P1 for side observation, and R is the distance from the axis O to the center of the pupil at the second pupil position for side observation. _p
R _p = r _p × β
It can be expressed as.
That is, by using the relay optical system 2, at the second pupil position P2 for side observation, β at a distance r _p from the axis O to the center of the pupil at the first pupil position P1 for side observation. Double, the center of the pupil can be separated from the axis O. The pupil diameter is also increased by a factor of β. For this reason, the area of the image sensor can be increased and an arrangement space can be created. As a result, the resolution can be increased.

In addition, when viewed from the side of the first pupil for side observation, the relay optical system 2 uses the first pupil for side observation at the second pupil position P2 for side observation at a reduction magnification of 1 / β. Relaying to the pupil position P1.
Here, the distance r _p from the axis O to the center of the pupil at the first pupil position P1 for lateral observation is
r _p = R _p × 1 / β
It can be expressed as.
In other words, by using the relay optical system 2, at the first pupil position P1 for side observation, 1 / of the distance R from the axis O to the center of the pupil at the second pupil position P2 for side observation. The center of the pupil can be brought close to the axis O at β. For this reason, the reflecting surface 1a can be reduced in size, the tip can be reduced in diameter, the starting point of the visual field can be brought closer to the center of the circumference, and as a result, the distance can be obtained depending on the distance to the observation object located on the side. It is possible to reduce the change in the overlapping degree of the images in the adjacent areas and suppress the adverse effect on the observation over the entire circumference.

Next, a configuration for simultaneously observing the observation object over the entire circumference on the side using the all-around observation optical system of the first embodiment will be described.
FIGS. 2A and 2B are explanatory views showing an example of a more specific configuration of the omnidirectional observation optical system of the first embodiment. FIG. 2A is a sectional view along the axis, and FIG. 2B is a first pupil for side observation. The figure which shows the side observation object area | region corresponding to each positional relationship and a reflective surface from an axial direction, (c) is the 1st pupil for side observation shown in (b), and a side object The figure which shows the positional relationship of an imaging unit from an axial direction, (d) is a figure which shows notionally the example of the panorama image which comprised the image of each observation object area | region imaged with the image sensor for side observation. In addition, about the structural member substantially the same as the structural member of FIG. 1, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

2 corresponds to the six reflecting surfaces 1a _{1 to} 1a ₆ , the relay optical system 2, and the reflecting surfaces 1 a _{1 to 1 a 6 as shown} in FIG. Six sets of imaging units 3 _{1 to} 3 ₆ for side observation are provided. The reflecting surfaces 1a _{1 to} 1a ₆ are configured by providing a reflecting film on the pyramid surface of a hexagonal pyramid prism having a flat surface at the top of the head. 2 is connected to an observation control device composed of a central processing unit of a personal computer (not shown). Observation control apparatus, the image pickup element 3 ₁ to 3 ₆ for side-viewing each is bonded an image between the observation target region adjacent captured, to create a panoramic image of the observation target over the entire circumference of the lateral It functions as a panoramic image composition processing unit.

In the omnidirectional observation optical system of FIG. 2 configured in this way, the light from the observation target over the entire circumference of the side is converted into the light from the observation target for each of the six regions on the respective reflecting surfaces 1a _{1 to} 1a _6. After being divided and reflected, and intermediately imaged at the intermediate imaging position I1 by the relay optical system 2, the lateral observation is arranged at the second pupil positions P2 _{1 to} P2 ₆ for the respective side observations. the aperture stop 3a ₁ to 3 a _6, imaged on the imaging optical system 3b ₁ ~3b ₆ menstrual final imaging position I2 ₁ each with ～I2 ₆ for side-looking, image pickup device 3c ₁ for side-looking ~ It is imaged through 3c _6.

Here, the image sensor 3c ₁ is an image of the observation target area A1 shown in FIG. 2B, the image sensor 3c ₂ is an image of the observation target area A2 shown in FIG. 2B, and the image sensor 3c ₃ is a figure. 2 (b) shows the image of the observation target area A3, the image sensor 3c ₄ shows the image of the observation target area A4 shown in FIG. 2 (b), and the image sensor 3c ₅ shows the image of the observation target area A5 shown in FIG. 2 (b). The image pickup device 3c ₆ picks up images of the observation target area A6 shown in FIG. 2B.
The panorama image composition processing unit performs image processing to join adjacent end portions of the image of the observation target area A1 and the image of the observation target area A2 so that the image information is not excessive or insufficient. The adjacent end portions in the image of the observation target region A2 and the image of the observation target region A3, the adjacent end portions in the image of the observation target region A3 and the image of the observation target region A4, the image of the observation target region A4 and the observation target region Adjacent end portions in the A5 image, adjacent end portions in the observation target region A5 image and the observation target region A6 image, adjacent end portions in the observation target region A6 image and the observation target region A1 image In addition, the same image processing is performed at the same time to perform bonding. As a result, an image to be observed that is continuous over the entire circumference of the side is completed. By displaying the synthesized image in a developed state via a display device (not shown) such as a monitor, it is possible to simultaneously observe the panoramic image of the observation object over the entire circumference.

Second Embodiment FIGS. 3A and 3B are explanatory views showing an example of the configuration of the omnidirectional observation optical system according to the second embodiment of the present invention. FIG. 3A is a sectional view along the axis, and FIG. The figure which shows the positional relationship of a 1st pupil, a reflective surface, and the 1st pupil for front observation, and an opening from an axial direction, (c) is the 2nd pupil for side observation, and the imaging unit for side, In addition, FIG. 4 is a diagram illustrating a positional relationship between a second pupil for front observation and an imaging unit for front from the axial direction. In addition, about the structural member substantially the same as the structural member of FIG. 1, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

Omnidirectional observation optical system of the second embodiment, as shown in FIG. 3 (a), the reflecting surface 1a ₁ to 1A ₈ of 8 faces, a pair of a relay optical system 2, each reflective surface 1a ₁ ~ 8 sets of imaging units 3 _{1 to} 3 ₈ for side observation corresponding to 1a ₈ , and further includes an opening 1b and a set of imaging units 3 ′ for front observation corresponding to the opening 1b. Yes. In FIG. 3A, 7 is an optical unit for enlarging the front visual field, and 8 is an illumination unit for front observation that illuminates the observation object located in front.
The reflecting surfaces 1a _{1 to} 1a ₈ are configured by providing a reflecting film on the pyramid surface of a transparent octagonal prism having a flat surface at the top of the head.
Opening 1b is configured on the flat surface of the top portion surrounded by the reflecting surface 1a ₁ to 1A ₈ each. The opening 1b is located in the vicinity of the first pupil position P1 ′ for forward observation located on the axis O.
In addition, the relay optical system 2 further relays the pupil at the first pupil position P1 ′ for front observation to the second pupil position P2 ′ for front observation positioned on the axis O. It is configured.
The imaging unit 3 ′ for front observation has an aperture stop 3a ′ for front observation, an imaging optical system 3b ′ for front observation, and an imaging element 3c ′ for front observation.
The aperture stop 3a ′ for front observation is arranged at the second pupil position P2 ′ for front observation.
The imaging optical system 3b ′ for front observation is disposed at a predetermined position on the axis O corresponding to the aperture stop 3a ′ for front observation. Then, the light from the front observation object that has passed through the opening 1b and relayed through the relay optical system 2 is imaged at the final imaging position I2 ′ on the axis O.
The imaging element 3c ′ for front observation is disposed at the final image formation position I2 ′ on the axis O corresponding to the aperture stop 3a ′ for front observation.

In the omnidirectional observation optical system of the second embodiment configured as described above, light from the observation target over the entire circumference of the side is transmitted from the observation target for each of the eight regions on each of the reflection surfaces 1a _{1 to} 1a ₈ . After being divided into light and reflected, and intermediately imaged at the intermediate image forming position I1 by the relay optical system 2, the side disposed at each of the second pupil positions P2 _{1 to} P2 ₈ for side observation square viewing aperture stop 3a ₁ to 3 a _8, imaged on the imaging optical system 3b ₁ ~3b ₈ the final imaging position I2 ₁ ~I2 ₈ each through for side-viewing, imaging for side-looking Images are taken through the elements 3c _{1 to} 3c ₈ .
At the same time, the light from the front observation object passes through the optical system unit 7 that enlarges the front visual field, passes through the aperture 1b, and is intermediately imaged at the intermediate image formation position I1 by the relay optical system 2. An image is formed at the final imaging position I2 ′ through the forward observation aperture stop 3a ′ and the forward observation imaging optical system 3b ′, which is arranged at the second pupil position P2 ′ for forward observation, and for forward observation. The image is picked up via the image pickup device 3c ′.
Therefore, according to the omnidirectional observation optical system of the second embodiment, it is possible to observe the observation object in front as well as the observation object over the entire circumference on the side.
Other functions and effects are substantially the same as those of the all-around observation optical system of the first embodiment.

In the example of FIG. 3, the optical system unit 7 for enlarging the front field of view is provided. However, the optical system unit 7 for enlarging the front field of view is not provided, and light from the front observation object is converted into an octagonal pyramid. You may comprise so that it may inject into a prism.
In the example of FIG. 3, each reflecting surface is formed by providing a reflecting film on a pyramid surface of a transparent octagonal pyramid prism having a flat surface at the top of the head. However, a pyramid in other polygonal pyramid prisms such as a hexagonal pyramid is used. You may comprise on the surface.
Moreover, in the example of FIGS. 1-3, although each reflective surface was comprised in the pyramid surface of the polygonal pyramid prism, you may comprise by a plate-shaped mirror surface.
Furthermore, in the example of FIGS. 1 to 3, a set of relay optical systems is provided. However, the first pupil for each side observation is located at a symmetrical second pupil position for side observation. A configuration in which the pupil at the position is enlarged and relayed (in the example of FIG. 3, the pupil at the first pupil position for front observation is further enlarged and relayed to the second pupil position for front observation). For example, a plurality of relay optical systems may be provided to relay the pupil a plurality of times. For example, in addition to the set of relay optical systems in the examples of FIGS. 1 to 3, one or more sets of two lenses having the same diameter and focal length as the pupil imaging lens in the relay optical system. A relay optical system may be added. A plurality of relay optical systems to be added may be provided so that the diameter of the lens is gradually increased or the focal length of the lens is gradually increased.

Next, an example of the omnidirectional observation system having the configuration of the omnidirectional observation optical system of each embodiment of the present invention will be described with reference to the drawings.
FIG. 4 is a conceptual diagram of a pipe camera type inner surface observation system having the configuration of the omnidirectional observation optical system of the present invention.
The system shown in FIG. 4 includes a pipe camera 11, a cable 12, an observation control device 13, and a monitor (display device) 14.
The pipe camera 11 has a tip part 11a having a small diameter and a camera part 11b having a diameter larger than that of the tip part 11a.
A side observation reflecting surface (not shown) configured in the same manner as in the first embodiment is provided inside the distal end portion 11a. Further, a cylindrical transparent window is provided at the distal end portion 11a.
Inside the camera unit 11b, a relay optical system (not shown) configured similarly to the first embodiment and an imaging unit for side observation (not shown) are provided.
The cable 12 connects the pipe camera 11 and the observation control device 13.
The observation control device 13 is composed of a central processing unit of a personal computer, etc., and performs predetermined control over movement, imaging, illumination, etc. of the pipe camera 11 via the cable 12 and functions as a panoramic image composition processing unit. The images of the observation objects in the adjacent regions captured by the respective image sensors for side observation in the camera 11 are joined together to create a panoramic image of the inner wall surface in the pipe 15 over the entire side.
The monitor 14 displays a panoramic image of the inner wall surface over the entire circumference of the side of the pipe 15 created by the panoramic image synthesis processing unit.
In FIG. 4, 15 is a pipe, 16 is a centering device that can adjust the axis of the pipe camera 11 to coincide with the axis of the pipe 15, and 17 is a wheel that allows the pipe camera 11 to move within the pipe 15. is there.

  4, the pipe camera 11 is inserted into the pipe 15 so that the axis of the pipe camera 11 coincides with the axis of the pipe 15 via the centering device 16. Adjust to. Next, the pipe camera 11 is moved along the axial direction of the pipe 15 to a desired observation position via the wheels 17, and an image of the inner wall surface over the entire circumference of the side in the pipe 15 is provided in the distal end portion 11 a. Each of the regions divided through the side observation reflecting surface (not shown) is imaged by a side observation imaging element (not shown) provided in the pipe camera unit 11b. The captured images of the inner wall surfaces of the respective lateral regions are combined with the panoramic image via the observation control device 13, and the combined panoramic image is displayed on the monitor 14.

FIG. 5 is a conceptual diagram of a pipe observation flexible mirror system having the configuration of the omnidirectional observation optical system of the present invention. In addition, about the structural member substantially the same as the structural member used for the system of FIG. 4, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.
The system shown in FIG. 5 includes an insertion unit 18, an observation control device 13, and a monitor (display device) 14.
The insertion portion 18 includes a distal end portion 18a having a small diameter, a camera portion 18b having a diameter larger than that of the distal end portion 18a, and a flexible mirror portion 18c.
Inside the distal end portion 18a, a side observation reflecting surface and an opening, which are configured in the same manner as in the second embodiment, are provided. A cylindrical transparent window is provided at the distal end portion 18a.
Inside the camera unit 18b, there are provided a relay optical system (not shown) configured in the same manner as in the second embodiment, an imaging unit for side observation (not shown), and an imaging unit for front observation (not shown). It has been.
The flexible mirror 18c includes an optical fiber (not shown) for sending illumination light, or a cable (not shown) for connecting the LED and the electric cable (not shown), and the camera unit 18b and the observation control device. ing.

  In the flexible endoscope system for observing a pipe shown in FIG. 5, the insertion portion 18 is inserted into a tubular body (not shown), and an image of the inner wall surface over the entire circumference on the side of the tubular body is provided in the distal end portion 18a. For each of the regions divided via the reflecting surface (not shown), an image is captured by a lateral observation imaging element (not shown) provided in the camera unit 18b, and an image in front of the tubular body is obtained. An image is picked up by an imaging element (not shown) for forward observation provided in the camera unit 18b. The captured images of the inner wall surface of each region are combined with a panoramic image via the observation control device 13, and the combined panoramic image is displayed on the monitor 14. The captured image of the front area is subjected to predetermined image processing via the observation control device 13 and displayed on the monitor 14.

FIG. 6 is a conceptual diagram of a rigid endoscope system for observing a pipe or an observation system for observing a pipe having the configuration of the omnidirectional observation optical system of the present invention. In addition, about the structural member substantially the same as the structural member used for the system of FIG. 4, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.
The system shown in FIG. 6 includes an insertion unit 19, a gripping unit 20, a cable 12, an observation control device 13, and a monitor (display device) 14.
The insertion portion 19 includes a distal end portion 19a having a small diameter and a rigid endoscope portion 19b having a larger diameter than the distal end portion 19a.
Inside the distal end portion 19a, a side observation reflecting surface and an opening that are configured in the same manner as in the second embodiment are provided. A cylindrical transparent window is provided at the tip 19a.
In addition to a set of relay optical systems (not shown) configured in the same manner as in the second embodiment, the rigid endoscope unit 19b further includes the pupil imaging lens, diameter, and focal length of the relay optical system. One or more sets of relay optical systems composed of the same lens are provided, and the imaging unit is connected to the distal end portion 19a by relaying the intermediately formed image or the pupil at the second pupil position for side observation. So that it can be placed farther away.
Inside the grip 20, there are provided a side observation imaging unit (not shown) and a front observation imaging unit (not shown) configured in the same manner as in the second embodiment.
The operational effects of the pipe observation rigid endoscope system or the pipe observation observation system of FIG. 6 are substantially the same as those of the pipe observation flexible endoscope system of FIG.

FIG. 7 is a conceptual diagram of a screw hole observation rigid endoscope system or screw hole observation observation system provided with the configuration of the omnidirectional observation optical system of the present invention, where (a) is a diagram showing an example, and (b) is another diagram. It is a figure which shows the example of. In addition, about the structural member substantially the same as the structural member used for the system of FIG. 4, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.
The system shown in FIG. 7A includes an insertion unit 21, a camera unit 22, a cable 12, an observation control device 13, and a monitor (display device) 14.
The insertion portion 21 is composed only of a thin tip portion 21a that can be inserted into the screw hole. A reflecting surface (not shown) for side observation, which is configured in the same manner as in the first embodiment, is provided inside the distal end portion 21a. Further, a cylindrical transparent window is provided at the distal end portion 21a.
Inside the camera unit 22, a relay optical system (not shown) configured in the same manner as in the first embodiment and an imaging unit (not shown) for side observation are provided.
In the system of FIG. 7B, a monitor (display device) 14 is integrated with the camera unit 22, and a relay optical system (not shown) configured similarly to the first embodiment is provided inside the camera unit 22. In addition to the side observation imaging unit (not shown), a central processing unit (not shown) that functions as a panoramic image synthesis processing unit in the first embodiment is provided. Other configurations are substantially the same as those of the system of FIG. In FIG. 7B, 23 is a plate, and 23a is a screw hole provided in the plate.

  Then, in the screw hole observation rigid endoscope system or the screw hole observation observation system of FIG. 7, the tip 21 is inserted into the screw hole 23a of the plate 23 shown in FIG. 7B, for example, and the entire circumference of the screw hole 23a is inserted. An image sensor for lateral observation (not shown) provided in the camera unit 22 is provided for each region obtained by dividing the image of the side surface extending through the reflecting surface (not shown) provided in the distal end portion 21. ) The captured images of the side surfaces of the screw holes 23a in the respective regions are combined with the panoramic image via a central processing unit (not shown) that functions as a panoramic image combining processing unit, and the combined panoramic image is displayed on the monitor 14. Is displayed.

  Note that the observation rigid endoscope system and observation observation system shown in FIGS. 7 (a) and 7 (b) are for screw hole observation in the above description, but other than that, holes and grooves having a small diameter and a short length are also used. For example, it may be used for the purpose of observing the inner surface of the through hole.

  In each of the above-described embodiments, the aperture stop for side observation is arranged at the second pupil position for side observation, but the arrangement of the aperture stop for side observation is not limited to these. Absent. The aperture stop for side observation may be arranged anywhere as long as the pupil position is conjugate to the first pupil position for side observation. For example, the pyramid that forms the first pupil position for side observation is used. A light shielding film is deposited directly on the pyramid surface of the prism in a shape corresponding to an aperture stop for side observation, or a first pupil for side observation on an optical path transmitted by a plurality of relay lenses. You may arrange | position to the pupil position formed in the intermediate position between a position and the 2nd pupil position for side observation. Similarly, the aperture stop for forward observation in the example of FIG. 3 may be disposed anywhere as long as the pupil position is conjugate to the first pupil position for forward observation.

  The all-around observation optical system of the present invention and the all-around observation system using the same are not limited to these applications, and are useful in fields in which it is required to observe the inner surface of the tubular body all around the circumference simultaneously. is there.

1 polygonal prisms 1a pyramid-sectional shape of the reflecting surface 1b opening 2 relay optical system 2a intermediate image forming lens 2b pupil imaging lens 3 side imaging unit 3a for _{observation, 3a 1, 3a 2, 3a} 3, 3a 4, 3a ₅ , 3a ₆ , 3a ₇ , 3a ₈ lateral observation stop 3b, 3b ₁ , 3b ₂ , 3b ₃ , 3b ₄ , 3b ₅ , 3b ₆ , 3b ₇ , 3b ₈ imaging lens for lateral observation _{3c, 3c 1, 3c 2,} 3c 3, 3c 4, 3c 5, imaging device 3c _6, 3c _7, 3c ₈ side for observation
3 'imaging unit for forward observation 3a' aperture for forward observation 3b 'imaging lens for forward observation 3c' imaging device for forward observation 4 cylindrical transparent window 5 housing 6 illumination unit for lateral observation 7 front Optical unit that expands the field of view 8 Illumination unit for forward observation 11 Pipe camera 11a Tip 11b Camera unit 12 Cable 13 Observation control device 14 Monitor (display device)
15 pipe 16 centering device 17 wheel 18 inserted portion 18a tip 18b camera unit 18c flexible endoscope 19 insertion portion 20 gripping portion 21 the insertion portion 21a tip 22 camera unit 23 plate 23a screw hole O axis P1, P1 _1, P1 _2, P1 ₃ , P1 ₄ , P1 ₅ , P1 ₆ , P1 ₇ , P1 ₈ First pupil position for lateral observation P2, P2 ₁ , P2 ₂ , P2 ₃ , P2 ₄ , P2 ₅ , P2 ₆ , P2 ₇ , P2 ₈ Second pupil position for lateral observation P1 ′ First pupil position for forward observation P2 ′ Second pupil position for forward observation I1 Intermediate imaging positions I2, I2 ₁ , I2 ₂ , I2 ₃ , I2 ₄ , I2 ₅ , I2 ₆ , I2 ₇ , I2 ₈ , I2 ′ Final imaging position 51 Motor 51a Rotating shaft 52 Mirror 53 Imaging unit 54 Observation window 61 Convex mirror with rotational symmetry 61a Hole 62 Imaging unit 63 Observation window 71 Reflection Member 71a reflecting surface 72 lens 73 one-dimensional image sensor 81 imaging unit 81
81a Lens 81b Image sensor 91 Side view optical system 91a, 91c Lens 91b Mirror 92 Image sensor

Claims (10)

A predetermined pyramid surface symmetric with respect to a predetermined axis, and each of them is arranged in the vicinity of a first pupil position for lateral observation that is symmetrical with respect to the predetermined axis, Three or more reflecting surfaces that divide the light from the observation target over the entire circumference into the light from the observation target for each of the three or more regions on the side and reflect backwards;
The pupils at the first pupil positions for the side observations are enlarged to the second pupil positions for the side observations arranged on the predetermined axes and symmetrical with respect to the predetermined axes, respectively. And relay optical system to relay,
Three or more aperture diaphragms for side observation, each arranged at a pupil position conjugate with the first pupil position for each side observation;
Three or more sets of imaging optical systems for side observation, which are respectively arranged corresponding to the respective aperture diaphragms for side observation,
Three or more image sensors for side observation, each arranged corresponding to the imaging optical system for each side observation,
An all-around observation optical system characterized by comprising:   2. The omnidirectional observation optical system according to claim 1, wherein the three or more side observation aperture stops are respectively arranged at the second pupil positions for the respective side observations.   3. The all-around observation optical system according to claim 1, wherein each of the reflecting surfaces is inclined at a predetermined angle within a range of 45 ° ± 15 ° with respect to the predetermined axis. Each of the reflective surfaces is provided on a pyramid surface in a pyramid having a flat surface at the top of the head,
An opening is provided in the flat surface of the top of the head surrounded by the respective reflecting surfaces;
The opening is located in the vicinity of the first pupil position for forward observation located on the predetermined axis,
The relay optical system is further configured to enlarge and relay the pupil at the first pupil position for front observation to the second pupil position for front observation located on the predetermined axis, further,
An aperture stop for forward observation disposed at a pupil position conjugate with the first pupil position for forward observation;
An imaging optical system for front observation arranged corresponding to the aperture stop for front observation;
An imaging device for front observation arranged corresponding to the imaging optical system for front observation,
The all-around observation optical system according to claim 1, wherein   The omnidirectional observation optical system according to claim 4, wherein the front observation aperture stop is disposed at the second pupil position for front observation.   6. The all-around observation optical system according to claim 1, wherein each of the reflection surfaces is provided with a reflection film on each of the pyramid surfaces of the pyramid member. Each of the reflective surfaces is provided with a reflective film on each of the pyramidal surfaces of the transparent pyramidal member having a flat surface at the top of the head,
The all-around observation optical system according to claim 4, wherein the opening is configured by a flat surface of the top of the head of the transparent pyramid member.   The all-around observation optical system according to claim 1, wherein each of the reflection surfaces is formed of a plate-like mirror surface.   Furthermore, it has a cylindrical transparent window which is arranged coaxially with the predetermined axis and allows light from the observation object over the entire circumference of the side to enter the respective reflecting surfaces. All-around observation optical system in any one of -8. An all-around observation optical system according to any one of claims 1 to 9,
A panorama image composition processing unit that joins together images of observation objects in adjacent regions captured by the respective image sensors for side observation, and creates a panorama image of the observation object over the entire circumference of the side;
An omnidirectional observation system comprising a panoramic image display unit that displays a panoramic image of an observation object that is created by the panoramic image synthesis processing unit and that covers the entire circumference of the side.

Images