WO2014122713A1

WO2014122713A1 - Information acquisition device and object detection device

Info

Publication number: WO2014122713A1
Application number: PCT/JP2013/007538
Authority: WO
Inventors: 楳田　勝美; 信雄岩月; 森　和思; 智行村西; 泰光加世田
Original assignee: 三洋電機株式会社
Priority date: 2013-02-08
Filing date: 2013-12-24
Publication date: 2014-08-14
Also published as: JP2016065718A

Abstract

Provided is an information acquisition device that can acquire information related to the distance to a target region by using a simple configuration, and that can suppress the impact on an image pickup camera of light projected to the target region in order to acquire information. Also provided is an object detection device having the information acquisition device. An information acquisition device (2) is provided with the following: a projection unit (100) for projecting infrared light; an infrared image pickup unit (200); a distance acquisition unit (21b) for acquiring the distance information of each position on the target region on the basis of a luminance value acquired by the infrared image pickup unit (200); and a visible light image pickup unit (300). The infrared image pickup unit (200) is provided with a visible light removing filter (230) for removing visible light, and the visible light image pickup unit (300) is provided with an infrared light removing filter (330) for removing infrared light. The projection unit (100), infrared image pickup unit (200), and the visible light image pickup unit (300) are disposed so that the visible light image pickup unit (300) is not interposed between the projection unit (100) and the infrared image pickup unit (200).

Description

Information acquisition device and object detection device

The present invention relates to an information acquisition device that acquires information in a target area and an object detection device including the information acquisition device.

Conventionally, an object detection device using light has been developed in various fields. An object detection apparatus using a so-called distance image sensor can detect not only a planar image on a two-dimensional plane but also the shape and movement of the detection target object in the depth direction.

A distance image sensor of a type that irradiates a target area with laser light having a predetermined dot pattern is known as a distance image sensor (for example, Non-Patent Document 1). In such a distance image sensor, a dot pattern when the reference surface is irradiated with laser light is picked up by the image pickup device, and the picked-up dot pattern is held as a reference dot pattern. Then, the reference dot pattern is compared with the actually measured dot pattern captured at the time of actual measurement, and distance information is acquired. Specifically, distance information with respect to the reference region is acquired by a triangulation method based on the position of the reference region set on the standard dot pattern on the measured dot pattern.

However, since the distance image sensor needs to generate dot pattern light, there is a problem in that the configuration of the projection unit that projects light onto the target area becomes complicated.

Furthermore, for example, when the object detection device is mounted on a personal computer or the like, it is necessary to consider the influence of light projected from the object detection device on the imaging camera mounted on the personal computer.

In view of the above problems, the present invention can smoothly acquire information related to the distance to the target area with a simple configuration, and has an influence on the imaging camera of light projected on the target area in order to acquire the information. An object of the present invention is to provide an information acquisition device that can be suppressed and an object detection device including the information acquisition device. Further, the present invention can smoothly detect an object existing in the target area with a simple configuration, and can suppress the influence of light projected on the target area to detect the object on the imaging camera. An object of the present invention is to provide a possible object detection device.

The first aspect of the present invention relates to an information acquisition device. The information acquisition apparatus according to this aspect includes a projection unit that projects infrared light onto a target region, a first image sensor, a first imaging unit that images the target region, and the first image sensor. A distance acquisition unit that acquires information on the distance to each position on the target area based on the luminance value acquired by the second imaging unit, and a second imaging unit that captures an image with visible light. And comprising. Here, the first imaging unit includes a first filter that removes visible light and transmits infrared light, and the second imaging unit transmits second light and removes infrared light. The filter is provided. The projection unit, the first imaging unit, and the second imaging unit are arranged so that the second imaging unit is not interposed between the projection unit and the first imaging unit. ing.

The second aspect of the present invention relates to an object detection apparatus. An object detection device according to this aspect includes an information acquisition device according to a first aspect, an object detection unit that detects an object present in the target region based on information about the distance acquired by the information acquisition device, .

The third aspect of the present invention relates to an object detection apparatus. The object detection apparatus according to this aspect includes a projection unit that projects infrared light onto a target area, a first image sensor, a first imaging unit that images the target area, and the first image sensor. An object detection unit that detects an object in the target area, and a second imaging unit that has a second image sensor and captures an image with visible light. Here, the first imaging unit includes a first filter that removes visible light and transmits infrared light, and the second imaging unit transmits second light and removes infrared light. The filter is provided. The projection unit, the first imaging unit, and the second imaging unit are arranged so that the second imaging unit is not interposed between the projection unit and the first imaging unit. ing.

ADVANTAGE OF THE INVENTION According to this invention, the information regarding the distance with respect to a target area | region can be acquired smoothly with a simple structure, and the influence with respect to the imaging camera of the light projected on a target area | region in order to acquire the said information is suppressed. It is possible to provide an information acquisition device capable of performing the above and an object detection device including the information acquisition device. In addition, according to the present invention, an object existing in the target area can be detected smoothly with a simple configuration, and the influence of light projected on the target area for detecting the object is suppressed on the imaging camera. It is possible to provide an object detection device capable of performing the above-described operation.

The effect or significance of the present invention will become more apparent from the following description of embodiments. However, the embodiment described below is merely an example when the present invention is implemented, and the present invention is not limited to the following embodiment.

It is a figure which shows the external appearance structure of the personal computer which incorporated the object detection apparatus which concerns on embodiment. It is a figure which shows the structure of the information acquisition apparatus and object detection apparatus which concern on embodiment. It is a figure which shows the structure of the projection part which concerns on embodiment, an infrared imaging part, and a visible light imaging part. It is a figure which shows typically the projection state of the light with respect to the target area | region which concerns on embodiment, and the imaging state of the target area | region by an infrared imaging part. It is a figure which shows typically the projection state of the light with respect to the target area | region which concerns on embodiment, and the imaging state of the target area | region by an infrared imaging part and a visible light imaging part. It is a figure which shows the sensitivity of the image sensor which concerns on embodiment, and the waveform of the distance conversion function which prescribes | regulates the relationship between a luminance value and distance. It is a flowchart which shows the acquisition process and object detection process of distance information which concern on embodiment. It is a figure which shows typically the projection state of the light with respect to the target area | region which concerns on a comparative example, and the imaging state of the target area | region by an infrared imaging part and a visible light imaging part. It is a figure which shows typically the projection state of the light with respect to the target area | region which concerns on the example of a change, and the imaging state of the target area | region by an infrared imaging part and a visible light imaging part. The figure which shows the structure of the projection part which concerns on another modified example, and an infrared imaging part, The figure which shows the projection state of the light with respect to the target area | region which concerns on the said modified example, and the imaging state of a target area | region, Still another modified example It is a figure which shows the structure of the projection part which concerns, and the figure which shows the structure of the infrared imaging part which concerns on another example of a change. It is a figure which shows the arrangement | positioning state of the projection part which concerns on another example of a change, an infrared imaging part, and a visible light imaging part. It is a flowchart which shows the brightness | luminance image generation process and object detection process which concern on the other example of a change. It is a figure which shows the structure of the object detection apparatus and information processing apparatus which concern on the example of another change. It is a flowchart which shows the object detection process which concerns on the example of a change shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the present embodiment, the object detection apparatus according to the present invention is applied to a notebook personal computer. In addition, the object detection apparatus according to the present invention can be appropriately applied to other devices such as a desktop personal computer and a television. It should be noted that the information acquisition device and the object detection device according to the present invention do not necessarily have to be mounted integrally with other devices, and may constitute a single device alone.

In the embodiment described below, the distance acquisition unit 21b and the imaging signal processing circuit 23 correspond to a “distance acquisition unit” recited in the claims. The lens surface 111c corresponds to a “lens portion” recited in the claims. The infrared imaging unit 200 corresponds to a “first imaging unit” recited in the claims. The visible light removal filter 230 corresponds to a “first filter” recited in the claims. The CMOS image sensor 240 corresponds to a “first image sensor” recited in the claims. The visible light imaging unit 300 corresponds to a “second imaging unit” recited in the claims. The infrared light removal filter 330 corresponds to a “second filter” recited in the claims. The CMOS image sensor 340 corresponds to a “second image sensor” recited in the claims. A configuration including the information acquisition device 2 and the information processing unit 3 corresponds to the object detection device according to claims 1, 8, and 9. However, the description of the correspondence between the above claims and the present embodiment is merely an example, and the invention according to the claims is not limited to the present embodiment.

FIG. 1 is a diagram showing a schematic configuration of a personal computer 1 according to the present embodiment. As shown in FIG. 1, the personal computer 1 includes an information acquisition device 2 and an information processing unit 3. In addition, the personal computer 1 includes a keyboard 4, an operation pad 5, and a monitor 6.

The information acquisition device 2 projects light (infrared light) in an infrared wavelength band longer than the visible light wavelength band over the entire target region, and receives the reflected light with a CMOS image sensor, thereby achieving the target. The distance to each part of the object existing in the region (hereinafter referred to as “distance information”) is acquired. Based on the distance information acquired by the information acquisition device 2, the information processing unit 3 detects a predetermined object existing in the target area, and further detects the movement of the object. Then, the information processing unit 3 controls the function of the personal computer 1 according to the movement of the object.

For example, when the user performs a predetermined gesture using his / her hand, distance information corresponding to the gesture is transmitted from the information acquisition device 2 to the information processing unit 3. Based on this information, the information processing unit 3 detects the user's hand as a detection target object, and functions associated with the movement of the hand (screen enlargement / reduction, screen brightness adjustment, page turning, etc.) Execute.

Furthermore, the information acquisition device 2 includes a camera (a visible light imaging unit 300 described later) for acquiring an image of a user facing the personal computer 1. An image captured by this camera is displayed on the monitor 6 or transmitted to another device (such as a personal computer) via a network such as the Internet.

FIG. 2 is a diagram illustrating the configuration of the information acquisition device 2 and the information processing unit 3.

The information acquisition apparatus 2 includes a projection unit 100, an infrared imaging unit 200, and a visible light imaging unit 300 as the configuration of the optical unit. The projection unit 100, the infrared imaging unit 200, and the visible light imaging unit 300 are arranged so as to be linearly arranged in the X-axis direction. In addition, the infrared imaging unit 200 and the visible light imaging unit 300 are adjacent to each other without the projection unit 100 interposed therebetween.

The configuration in which the projection unit 100, the infrared imaging unit 200, and the visible light imaging unit 300 are arranged in a straight line in the X-axis direction is an example of a configuration according to claims 2 and 10. is there. The configuration in which the infrared imaging unit 200 and the visible light imaging unit 300 are adjacent to each other is an example of a configuration according to claims 3 and 11.

The projection unit 100 includes a light source 110 that emits light in the infrared wavelength band.

The infrared imaging unit 200 includes an aperture 210, an imaging lens 220, a visible light removal filter 230, and a CMOS image sensor 240. In addition, the information acquisition apparatus 2 includes a CPU (Central Processing Unit) 21, an infrared light source driving circuit 22, imaging

signal processing circuits

23 and 24, an input / output circuit 25, and a memory 26 as a circuit unit configuration. I have.

The light projected from the light source 110 onto the target area is reflected by an object existing in the target area, and enters the imaging lens 220 via the aperture 210.

The aperture 210 restricts light from the outside so as to match the F number of the imaging lens 220. The imaging lens 220 collects the light incident through the aperture 210 on the CMOS image sensor 240. The visible light removal filter 230 is a bandpass filter that transmits light in the wavelength band including the emission wavelength of the light source 110 (infrared light) and cuts light in the visible light wavelength band (visible light).

As described later, the CMOS image sensor 240 is a color image sensor having sensitivity to the wavelength band of visible light and the wavelength band of infrared light emitted from the light source 110. The CMOS image sensor 240 receives the light collected by the imaging lens 220 and outputs a signal corresponding to the amount of received light to the imaging signal processing circuit 23 for each pixel. Here, in the CMOS image sensor 240, the output speed of the signal is increased so that the signal of the pixel can be output to the imaging signal processing circuit 23 with high response from the light reception in each pixel.

In the present embodiment, the effective imaging area of the CMOS image sensor 240 (area in which a signal is output as a sensor) is, for example, the size of VGA (640 horizontal pixels × 480 vertical pixels). The imaging effective area of the CMOS image sensor 240 may have other sizes such as an XGA (horizontal 1024 pixels × vertical 768 pixels) size or an SXGA (horizontal 1280 pixels × vertical 1024 pixels) size.

The visible light imaging unit 300 is for acquiring an image of a user facing the personal computer 1 as described above. The visible light imaging unit 300 includes an aperture 310, an imaging lens 320, an infrared light removal filter 330, and a CMOS image sensor 240.

The aperture 310 limits light from the outside so as to match the F number of the imaging lens 320. The imaging lens 320 collects the light incident through the aperture 310 on the CMOS image sensor 340. The infrared light removal filter 330 is a band-pass filter that cuts light in the wavelength band including the emission wavelength of the light source 110 (infrared light) and transmits light in the visible light wavelength band (visible light).

The CMOS image sensor 340 is sensitive to the visible light wavelength band. The CMOS image sensor 340 receives the light collected by the imaging lens 320 and outputs a signal corresponding to the amount of received light to the imaging signal processing circuit 24 for each pixel.

The effective imaging area of the CMOS image sensor 340 (area for outputting a signal as a sensor) is, for example, a size of VGA (horizontal 640 pixels × vertical 480 pixels). The effective imaging area of the CMOS image sensor 340 may be other sizes such as an XGA (horizontal 1024 pixels × vertical 768 pixels) size or an SXGA (horizontal 1280 pixels × vertical 1024 pixels) size.

CPU 21 controls each unit according to a control program stored in memory 26. With this control program, the functions of the light source control unit 21a, the distance acquisition unit 21b, and the image processing unit 21c are given to the CPU 21.

The light source control unit 21a controls the infrared light source driving circuit 22. The distance acquisition unit 21b acquires distance information as described later based on a signal output from the CMOS image sensor 240. The image processing unit 21c processes the image signal output from the imaging signal processing circuit 24 to generate image data.

The infrared light source driving circuit 22 drives the light source 110 according to a control signal from the CPU 21.

The imaging signal processing circuit 23 drives the CMOS image sensor 240 under the control of the CPU 21, acquires the luminance signal of each pixel from the signal output from the CMOS image sensor 240, and outputs the acquired luminance signal to the CPU 21. To do. As will be described later, the imaging signal processing circuit 23 applies the exposure time set by the CPU 21 to each pixel of the CMOS image sensor 240, and further sets the CPU 21 for the signal output from the CMOS image sensor 240. A gain signal is applied to obtain a luminance signal for each pixel.

The imaging signal processing circuit 24 drives the CMOS image sensor 340 under the control of the CPU 21, generates an image signal from the signal output from the CMOS image sensor 340, and outputs the generated image signal to the CPU 21.

The CPU 21 calculates the distance from the information acquisition device 2 to each part of the detection target object by the processing by the distance acquisition unit 21b based on the luminance signal supplied from the imaging signal processing circuit 23. The distance information is acquired for each pixel of the CMOS image sensor 240. The distance information acquisition process will be described later with reference to FIG.

The input / output circuit 25 controls data communication with the information processing unit 3.

The memory 26 holds a distance conversion function used for obtaining distance information in addition to a control program executed by the CPU 21. In addition, the memory 26 is also used as a work area during processing in the CPU 21. The distance conversion function will be described later with reference to FIG.

The information processing unit 3 includes a CPU 31, an input / output circuit 32, and a memory 33. In addition to the configuration shown in FIG. 2, the information processing unit 3 is provided with a configuration for driving and controlling each unit of the personal computer 1. For convenience, the configuration of these peripheral circuits is not shown.

CPU 31 controls each unit according to a control program stored in memory 33. With this control program, the function of the function detection unit 31b for controlling the function of the personal computer 1 is given to the CPU 31 in accordance with the function of the object detection unit 31a and the signal from the object detection unit 31a.

The object detection unit 31a extracts the shape of the object from the distance information acquired by the distance acquisition unit 21b, and further detects the movement of the extracted object shape. The function control unit 31b determines whether the movement of the object detected by the object detection unit 31a matches a predetermined movement pattern. If the movement of the object matches the predetermined movement pattern, the movement pattern The control corresponding to is executed.

In addition, the CPU 31 processes the image data input from the image processing unit 21c. CPU21 displays the image based on image data on the monitor 6, or transmits to another apparatus via a network.

FIGS. 3A to 3C are diagrams showing configurations of the projection unit 100, the infrared imaging unit 200, and the visible light imaging unit 300. FIG. 3A is a diagram illustrating a configuration of the light source 110, and FIG. 3B is a plan view illustrating the projection unit 100, the infrared imaging unit 200, and the visible light imaging unit 300 that are installed on the circuit board 400. FIG. 3C is a cross-sectional view taken along the line AA ′ of FIG.

As shown in FIG. 3A, in the present embodiment, the light source 110 is composed of a light emitting diode (LED: Light Emitting Diode). A light emitting element (not shown) that emits infrared light is accommodated in the housing 110a. Infrared light emitted from the light emitting element is emitted to the outside at a predetermined radiation angle from the emission portion 110b on the upper surface. As shown in FIGS. 3B and 3C, the light source 110 is mounted on the circuit board 400.

It should be noted that the configuration in which the light source 110 is composed of LEDs is an example of the configuration according to claims 4 and 12.

3B and 3C, the infrared imaging unit 200 includes a lens barrel 250, an imaging lens, in addition to the aperture 210, the imaging lens 220, the visible light removal filter 230, and the CMOS image sensor 240 described above. A holder 260 is provided. The CMOS image sensor 240 is mounted on the circuit board 400. The imaging lens 220 is attached to the lens barrel 250, and the lens barrel 250 is attached to the imaging lens holder 260 while holding the imaging lens 220. The imaging lens holder 260 has a recess on the lower surface, and the visible light removing filter 230 is attached to the recess. Thus, the imaging lens holder 260 is installed on the circuit board 400 so as to cover the CMOS image sensor 240 while holding the imaging lens 220 and the visible light removal filter 230.

The visible light imaging unit 300 has the same configuration as the infrared imaging unit 200. That is, the visible light imaging unit 300 includes the lens barrel 350 and the imaging lens holder 360 in addition to the aperture 310, the imaging lens 320, the infrared light removal filter 330, and the CMOS image sensor 340 described above. The CMOS image sensor 340 is mounted on the circuit board 400. The imaging lens 320 is attached to the lens barrel 350, and the lens barrel 350 is attached to the imaging lens holder 360 while holding the imaging lens 320. The imaging lens holder 360 has a concave portion on the lower surface, and the infrared light removal filter 330 is attached to the concave portion. Thus, the imaging lens holder 360 is installed on the circuit board 400 so as to cover the CMOS image sensor 340 while holding the imaging lens 320 and the infrared light removal filter 330.

In the present embodiment, the imaging lens 220 is composed of four lenses. However, the number of lenses constituting the imaging lens 220 is not limited to this, and the imaging lens 220 may be configured from other numbers of lenses. This also applies to the imaging lens 320.

In addition to the projection unit 100, the infrared imaging unit 200, and the visible light imaging unit 300, a circuit unit 500 constituting the information acquisition device 2 is mounted on the circuit board 400. The CPU 21, the infrared light source driving circuit 22, the imaging signal processing circuit 23, the imaging signal processing circuit 24, the input / output circuit 25, and the memory 26 illustrated in FIG. 2 are included in the circuit unit 500.

FIG. 4A is a diagram schematically showing a projection state of infrared light on the target area and an imaging state of the target area by the infrared imaging unit 200. FIG.

In the lower part of FIG. 4A, the projection state of infrared light by the projection unit 100 and the imaging state of the target area by the infrared imaging unit 200 are shown. In addition, in the upper part of FIG. 4A, the infrared light projection range in the target area and the imaging range of the infrared imaging unit 200 for the target area are schematically shown. Furthermore, in the upper part of FIG. 4A, an area corresponding to the effective imaging area of the CMOS image sensor 240 disposed in the infrared imaging unit 200 is shown. In FIG. 4A, ΔL indicates a distance acquisition range by the information acquisition device 2, and Lmax and Lmin indicate a maximum distance and a minimum distance that can be acquired by the information acquisition device 2, respectively. In the upper part of FIG. 4A, the projection range, the imaging range, and the imaging effective area when the target area is at the position of the maximum distance Lmax are shown.

As shown in FIG. 4A, the imaging range and the projection range overlap each other in the target area, and the imaging effective area is positioned in a range where the imaging range and the projection range overlap. In order to image the target area with the CMOS image sensor 240, an area corresponding to the effective imaging area of the CMOS image sensor 240 needs to be included in the projection range. On the other hand, as the distance becomes shorter, the projection range becomes narrower and eventually the projection range does not cover the area corresponding to the imaging effective area. Therefore, the minimum distance Lmin needs to be set to be longer than at least the minimum limit distance that the projection range can cover the entire imaging effective area.

On the other hand, the maximum distance Lmax is set assuming a distance range in which a detection target object such as a hand can exist. If the maximum distance Lmax is too long, the background of the detection target object is reflected in the captured image, which may reduce the detection accuracy of the detection target object. Therefore, the maximum distance Lmax is set assuming a distance range in which a detection target object such as a hand can exist so that the background of the detection target object does not appear in the captured image.

When the LED shown in FIG. 3A is used as the light source 110, as shown in the lower diagram of FIG. 4A, infrared light is emitted from the projection unit 100 so as to spread substantially uniformly. For this reason, as shown to the upper figure of Fig.4 (a), the range which does not cover an imaging range and an imaging effective area becomes large among projection ranges, and the utilization efficiency of infrared light will become low.

This problem is solved by directing the infrared light emitted from the projection unit 100 so that the infrared light gathers in the vicinity of the imaging range in the target area, as shown in FIG. 4B. Such a configuration can be realized by using the LED 111 shown in FIG.

Referring to FIG. 3D, the LED 111 includes a base 111a and a housing 111b. A light emitting element (not shown) that emits infrared light is molded in a light transmitting housing 111b. The upper surface of the housing 111b is a lens surface 111c, and the directivity of infrared light emitted from the upper surface to the outside is adjusted by the lens surface 111c. As shown in FIG. 4B, the lens surface 111c is adjusted so that infrared light gathers in the vicinity of the imaging range in the target area. Thereby, the light quantity of the infrared light which is not guided to the imaging effective area is reduced, and the utilization efficiency of the infrared light is increased.

Note that the configuration in which the infrared light emitted from the light source 110 that is an LED is directed to the vicinity of the imaging range of the infrared imaging unit 200 is an example of the configuration according to claims 5 and 13.

FIG. 5 shows the imaging range of the visible light imaging unit 300 superimposed on FIG. 4A. In the lower part of FIG. 5, the projection state of infrared light by the projection unit 100, the imaging state of the target area by the infrared imaging unit 200, and the imaging state by the visible light imaging unit 300 are shown. Further, in the upper part of FIG. 5, an infrared light projection range in the target region, an imaging range A of the infrared imaging unit 200 with respect to the target region, and an imaging range B of the visible light imaging unit 300 are schematically shown. Yes. Furthermore, in the upper part of FIG. 5, a region (imaging effective region A) corresponding to the effective imaging region of the CMOS image sensor 240 disposed in the infrared imaging unit 200 and a CMOS image sensor disposed in the visible light imaging unit 300. An area (imaging effective area B) corresponding to the effective imaging area 340 is shown.

As shown in FIG. 5, the infrared light projection range is applied to a part of the effective imaging area B of the visible light imaging unit 300. For this reason, the image captured by the visible light imaging unit 300 may be deteriorated in image quality in a region where infrared light projected from the projection unit 100 is applied. On the other hand, in the present embodiment, the visible light imaging unit 300 is provided with an infrared light removal filter 330 that removes infrared light. Thereby, it is suppressed that the projection area | region of the infrared light projected from the projection part 100 is reflected in the picked-up image of the visible light imaging part 300. FIG. Therefore, the image quality of the captured image of the visible light imaging unit 300 is prevented from being damaged by the infrared light from the projection unit 100.

FIG. 6A is a diagram schematically illustrating the sensitivity of each pixel on the CMOS image sensor 240 included in the infrared imaging unit 200.

In this embodiment, a color sensor is used as the CMOS image sensor 240. Therefore, the CMOS image sensor 240 includes three types of pixels that detect red, green, and blue, respectively.

6A, R, G, and B indicate the sensitivity of red, green, and blue pixels included in the CMOS image sensor 240, respectively. As shown in FIG. 6A, the sensitivity of the red, green, and blue pixels is substantially the same in the infrared wavelength band of 800 nm or more (the hatched portion in FIG. 6A is shown). reference). Therefore, when the visible light wavelength band is removed by the visible light removal filter 230 shown in FIG. 3C, the sensitivities of the red, green, and blue pixels of the CMOS image sensor 240 become substantially equal to each other. For this reason, when the same amount of infrared light is incident on the red, green, and blue pixels, the values of the signals output from the pixels of the respective colors are substantially equal. Therefore, there is no need to adjust the signal from each pixel between the pixels, and the signal from each pixel can be used as it is for obtaining distance information.

Note that the sensitivity of each pixel on the CMOS image sensor 340 included in the visible light imaging unit 300 is the same as that in FIG. In this case, if light in the infrared wavelength band is not removed by the infrared light removal filter 330, the image quality of the captured image of the visible light imaging unit 300 is reduced by the infrared light emitted from the projection unit 100 as follows. It will be damaged. For example, when imaging a green object, when infrared light is projected from the projection unit 100, red and blue pixels on the CMOS image sensor 340 are infrared light as shown in FIG. Therefore, red and blue pixels have luminance due to the infrared light emitted from the projection unit 100. As a result, the captured image is an image in which red and blue components are mixed with green.

In the present embodiment, since the infrared light removal filter 330 that removes infrared light is disposed in the visible light imaging unit 300, the infrared light emitted from the projection unit 100 is also used in this case. Red and blue pixels are prevented from having luminance. Therefore, the captured image is a proper green image in which the influence of infrared light is suppressed.

FIG. 6B is a diagram schematically showing the waveform of the distance conversion function held in the memory 26. For convenience, FIG. 6B shows the maximum distance Lmax and the minimum distance Lmin shown in FIGS. 4A and 4B and the distance acquisition range ΔL.

As shown in FIG. 6B, the distance conversion function defines the relationship between the luminance value acquired via the CMOS image sensor 240 and the distance corresponding to the luminance value. In general, the amount of light traveling straight is attenuated in inverse proportion to the square of the distance. Therefore, the amount of light of the infrared light emitted from the projection unit 100 is attenuated to 1 / square of the distance obtained by adding the distance from the projection unit 100 to the target area and the distance from the target area to the infrared imaging unit 200. In the state, it is received by the infrared imaging unit 200. For this reason, as shown in FIG. 6B, the luminance value acquired via the CMOS image sensor 240 decreases as the distance to the object increases, and increases as the distance to the object decreases. Therefore, the distance conversion function that defines the relationship between the distance and the luminance has a curved waveform as shown in FIG.

In the information acquisition device 2, the exposure time of the CMOS image sensor 240 is adjusted so that the relationship between the distance and the luminance value substantially matches the distance conversion function, and at the same time, the gain applied to the acquisition of the luminance value is adjusted. The In the example shown in FIG. 6B, the minimum distance Lmin is set to 30 cm, and the maximum distance Lmax is set to 80 cm. The luminance value is acquired with 256 gradations.

In this case, the luminance value when the object exists at the minimum distance Lmin is about 230, the luminance value when the object exists at the maximum distance Lmax is about 50, and the position of another distance within the distance acquisition range ΔL. The exposure time of the CMOS image sensor 240 is adjusted so that the luminance value when an object is present substantially matches the waveform of the distance conversion function of FIG. 6B, and at the same time, it is applied to the acquisition of the luminance value. The gain is adjusted. More specifically, in a state where infrared light is emitted from the projection unit 100 with a predetermined power, the reference surface (screen) is moved from the position of the minimum distance Lmin to the position of the maximum distance Lmax, and sequentially the luminance value (gradation) ) To get. At this time, the exposure time of the CMOS image sensor 240 is adjusted so that each acquired luminance value substantially matches the waveform of FIG. 6B, and at the same time, the gain applied to the acquisition of the luminance value is adjusted. The

If the relationship between the brightness value and the distance can be substantially matched to the distance conversion function shown in FIG. 6B by adjusting only the exposure time of the exposure time and gain, only the adjustment of the exposure time is possible. Should be done. Alternatively, when it is possible to substantially match the relationship between the luminance value and the distance with the distance conversion function shown in FIG. 6B only by adjusting the gain, only the gain adjustment needs to be performed. Further, parameters other than the exposure time and gain may be adjusted.

Such adjustment is performed when the information acquisition device 2 is manufactured. The adjusted exposure time and gain are held in the memory 26 and used when acquiring distance information.

FIG. 7A is a flowchart showing distance information acquisition processing. 7A is executed by the function of the distance acquisition unit 21b among the functions of the CPU 21 shown in FIG.

When the distance information acquisition timing arrives (S101: YES), the CPU 21 reads the exposure time and gain set as described above from the memory 26 and sets them in the imaging signal processing circuit 23. Thereby, the imaging signal processing circuit 23 acquires a captured image from the CMOS image sensor 240 with the set exposure time and gain (S102), and acquires a luminance value for each pixel from the acquired captured image (S103). . The acquired luminance value is transmitted to the CPU 21. The CPU 21 holds the luminance value of each pixel received from the imaging signal processing circuit 23 in the memory 26, and further compares the luminance value of each pixel with a predetermined threshold value Bsh. Then, the CPU 21 sets an error for a pixel whose luminance value is less than the threshold value Bsh (S104).

Subsequently, the CPU 21 converts a luminance value equal to or greater than the threshold Bsh into a distance by an operation based on a distance conversion function held in the memory 26 (S105), and converts the distance acquired by the conversion to a corresponding pixel. The distance image is generated by setting (S106). At this time, the CPU 21 sets a value (for example, 0) indicating an error to the pixel in which an error has occurred in S104.

Thus, after the distance image is generated, the CPU 21 determines whether or not the distance information acquisition operation is finished (S107). If the distance information acquisition operation is not completed (S107: NO), the CPU 21 returns the process to S101 and waits for the next distance information acquisition timing.

Note that the threshold value Bsh in S104 is set to a luminance value corresponding to the maximum distance Lmax in the distance conversion function shown in FIG. 6B, for example. Thereby, the luminance value based on the infrared light reflected from the object farther than the maximum distance Lmax is excluded from the distance information acquisition target. For this reason, it is suppressed that the detection accuracy of a detection target object falls because the object in the background of a detection target object reflects in a captured image.

FIG. 7B is a flowchart showing the object detection process. 7B is executed by the function of the object detection unit 31a among the functions of the CPU 31 shown in FIG.

When the distance image is acquired in S106 of FIG. 7A (S201: YES), the CPU 31 determines from the distance value of the highest gradation in the distance image (the distance value that represents the closest approach to the information acquisition device 2). A value obtained by subtracting the value ΔD is set as the distance threshold value Dsh (S202).

Next, the CPU 31 classifies an area having a distance value (gradation value) higher than the distance threshold Dsh as a target area on the distance image (S203). Then, the CPU 31 executes the contour extraction engine, compares the segmented target region contour with the object shape extraction template stored in the memory 26, and compares the contour corresponding to the contour stored in the object shape extraction template. The target region is extracted as a region corresponding to the detection target object (S204). In addition, when a detection target object is not extracted in S204, extraction of the detection target object with respect to the distance image is an error.

Thus, when the extraction process of the detection target object is completed, the CPU 31 determines whether or not the object detection operation is completed (S205). If the object detection operation has not ended (S205: NO), the CPU 31 returns to S201 and waits for the next distance image to be acquired. When the next distance image is acquired (S201: YES), the CPU 21 executes the processing from S202 onward, and extracts a detection target object from the distance image (S202 to S204).

<Effect of Embodiment>
As described above, according to the present embodiment, it is not necessary to convert the light projected onto the target area into a dot pattern, so that the configuration of the projection unit 100 can be simplified. Further, since the distance information of each pixel is acquired based on the luminance value, the distance information can be acquired by a simple calculation process.

In addition, since the infrared light removal filter 330 that removes infrared light is disposed in the visible light imaging unit 300, the image quality of the captured image of the visible light imaging unit 300 is improved by the infrared light emitted from the projection unit 100. Damage is suppressed.

Furthermore, in this embodiment, since the visible light imaging unit 300 is arranged without being interposed between the projection unit 100 and the infrared imaging unit 200, the visible light imaging unit 300 is connected to the projection unit 100 and infrared. Compared with the case where it is arranged between the imaging unit 200, the influence of infrared light on the captured image of the visible light imaging unit 300 can be suppressed.

The lower diagram of FIG. 8 shows a projection state of infrared light emitted from the projection unit 100 when the visible light imaging unit 300 is disposed between the projection unit 100 and the infrared imaging unit 200 (comparative example). 3 is a diagram illustrating an imaging state of a target region by an infrared imaging unit 200 and an imaging state by a visible light imaging unit 300. FIG. In the upper part of FIG. 8, an infrared light projection range in the target region, an imaging range A of the infrared imaging unit 200 with respect to the target region, and an imaging range B of the visible light imaging unit 300 are schematically shown. Further, in the upper part of FIG. 8, a region (imaging effective region A) corresponding to the effective imaging region of the CMOS image sensor 240 disposed in the infrared imaging unit 200 and a CMOS image sensor disposed in the visible light imaging unit 300. An area (imaging effective area B) corresponding to the effective imaging area 340 is shown.

As shown in FIG. 8, in the comparative example, as compared with the case where the projection unit 100 and the visible light imaging unit 300 are separated from each other with the infrared imaging unit 200 interposed therebetween as in the above embodiment (see FIG. 5), A large infrared light projection area is applied to the effective imaging area B of the visible light imaging unit 300. As described above, most of infrared light is removed by the infrared light removal filter 330 in the visible light imaging unit 300, but it may be difficult to completely remove all of the infrared light. In such a case, in the comparative example, since the infrared light projection area is often applied to the effective imaging area B of the visible light imaging unit 300, the image quality of the captured image of the visible light imaging unit 300 is red emitted from the projection unit 100. It is easily damaged by outside light. On the other hand, when the projection unit 100 and the visible light imaging unit 300 are separated from each other with the infrared imaging unit 200 interposed therebetween as in the above embodiment, the infrared light projection area is captured by the visible light imaging unit 300. Since the region over the effective region B is suppressed, the influence of infrared light emitted from the projection unit 100 on the captured image of the visible light imaging unit 300 can be suppressed.

Note that, for example, as shown in FIG. 9, the embodiment may be changed to a configuration (change example) in which the projection unit 100 is disposed between the infrared imaging unit 200 and the visible light imaging unit 300. According to the modified example shown in FIG. 9, since the range in which the infrared light from the projection unit 100 enters the imaging range B of the visible light imaging unit 300 is smaller than that in the comparative example, visible light by infrared light is used. The influence on the captured image of the imaging unit 300 can be suppressed.

However, in the modified example shown in FIG. 9, since the projection unit 100 is interposed between the infrared imaging unit 200 and the visible light imaging unit 300, the infrared imaging unit 200 and the visible light imaging are compared with the above embodiment. The part 300 is separated from each other. For this reason, in this example of a change, there exists a problem that a user's gesture will become a little difficult to detect as follows.

That is, when the user confronts the personal computer 1, the user's image captured by the visible light imaging unit 300 is displayed on the monitor 6. At this time, the user often inputs a gesture while viewing his / her own image displayed on the monitor 6. In this case, the user recognizes that he / she is picked up by the visible light imaging unit 300 by looking at the displayed image. For this reason, even when a gesture is input to the personal computer 1, the gesture is naturally performed toward the visible light imaging unit 300. However, the gesture is detected not by the visible light imaging unit 300 but by an image acquired by the infrared imaging unit 200. As shown in FIG. 9, in the modified example, the projection unit 100 is interposed between the infrared imaging unit 200 and the visible light imaging unit 300, so that the imaging range of the infrared imaging unit 200 is that of the visible light imaging unit 300. Since it deviates from the center of the imaging range, when the user makes a gesture toward the visible light imaging unit 300 in this way, the gesture is difficult to be captured by the infrared imaging unit 200. For this reason, in a modification, compared with the said embodiment, a user's gesture becomes a little difficult to detect.

On the other hand, in the present embodiment, the infrared imaging unit 200 and the visible light imaging unit 300 are adjacent to each other, and the infrared imaging unit 200 is close to the visible light imaging unit 300. The imaging range of 200 approaches the center of the imaging range of the visible light imaging unit 300. Therefore, even when the user performs a gesture toward the visible light imaging unit 300 while viewing the image on the monitor 6 as described above, the visible light imaging unit 300 can smoothly detect the user's gesture. obtain.

As described above, in the present embodiment, for example, a gesture is detected by the infrared imaging unit 200 while a call is made to the other party while an image of the subject is captured by the visible light imaging unit 300 such as an Internet telephone. Even when the personal computer 1 is caused to execute a predetermined function, it is possible to cause the personal computer 1 to appropriately execute a desired function without impairing the image quality of the image captured by the visible light imaging unit 300. The effect of can be produced.

In the present embodiment, since the exposure time and gain of the CMOS image sensor 240 are set so that a luminance value corresponding to the distance acquisition range ΔL is obtained from each pixel, an object farther than the maximum distance Lmax is set. The brightness of the infrared light reflected and incident on the pixel is smaller than the threshold value Bsh in S104 of FIG. 7A, and is excluded from the distance information acquisition target. Thereby, it can suppress that the detection accuracy of a detection target object falls because the image of the object farther than the distance acquisition range ΔL is reflected in the captured image.

The embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment, and various other modifications can be made to the configuration example of the present invention.

For example, in the above embodiment, an LED is used as the light source 110, but a semiconductor laser may be used as the light source 110 instead of the LED.

FIGS. 10A and 10B are diagrams showing configuration examples of the projection unit 100 and the infrared imaging unit 200 when a semiconductor laser is used as the light source 110. FIG. 10A is a plan view showing the projection unit 100 and the infrared imaging unit 200 installed on the circuit board 400, and FIG. 10B is a cross-sectional view taken along line AA ′ in FIG. FIG. In FIGS. 10A and 10B, the visible light imaging unit 300 and the circuit unit 500 are not shown for convenience.

10A and 10B, the same members as those shown in FIGS. 3B and 3C are denoted by the same reference numerals. The configuration of the infrared imaging unit 200 in this change is the same as the configuration of the infrared imaging unit 200 of the embodiment shown in FIGS. 3B and 3C. The configuration of the visible light imaging unit 300 is also the same as that of the embodiment shown in FIGS.

In this modified example, a light source 112 made of a semiconductor laser, a concave lens 120, and a lens holder 130 are arranged. The light source 112 is a CAN type semiconductor laser, and emits laser light in an infrared wavelength band. The light source 112 is mounted on the circuit board 400. The concave lens 120 is held by the lens holder 130. A lens holder 130 holding the concave lens 120 is installed on the circuit board 400 so as to cover the light source 112. The concave lens 120 directs the laser light so that the laser light emitted from the light source 112 gathers in the vicinity of the imaging range in the target area as shown in FIG.

Note that the configuration in which the light source 110 is made of a semiconductor laser and the laser light emitted from the light source 110 is projected onto the target area by the concave lens 120 is an example of the configuration according to claims 6 and 14.

Also in this modified example, since the light projected on the target area does not need to be a dot pattern, the configuration of the projection unit 100 can be simplified as in the above embodiment.

10A and 10B, the lens holder 130 that holds the concave lens 120 is used. As shown in FIG. 10D, the emission surface of the CAN of the semiconductor laser that is the light source 112 is used. The concave lens 140 may be attached to the concave lens 140, and the concave lens 140 and the light source 112 may be integrated. In this way, the lens holder 130 can be omitted, and the configuration of the projection unit 100 can be further simplified.

In the above-described embodiment, the visible light removal filter 230 is used in the infrared imaging unit 200 to remove light in the visible light wavelength band. However, as the material of the imaging lens 220, the visible light wavelength band is used. A filter function may be provided to the imaging lens 220 using a material that absorbs light.

FIG. 10E is a diagram illustrating a configuration example of the infrared imaging unit 200 in this case.

In this configuration example, the imaging lens 221 is formed from a material in which a dye is mixed with a resin material. As a dye, the absorption of light in the visible wavelength band is high, and the absorption of light in the infrared wavelength band is high. The one with low is used. Here, the dye is mixed in the material of the imaging lens 221, but any material other than the dye can be used as long as it absorbs light in the visible wavelength band and has low absorption in the infrared wavelength band. Ingredients may be mixed. Further, in the case where the imaging lens 221 is formed from four lenses as shown in FIG. 10E, it is not always necessary to mix the dye into all the lenses, and the visible light can be appropriately removed. Dye may be mixed into one, two or three lenses.

According to this configuration example, since the visible light removing filter 230 can be omitted, the configuration of the infrared imaging unit 200 can be further simplified, and the height of the infrared imaging unit 200 can be reduced.

In this way, the configuration in which the imaging lens 220 is formed of a material obtained by mixing a resin material with a dye having high absorption of light in the visible wavelength band and low absorption of light in the infrared wavelength band is as follows. An example of a configuration according to claims 7 and 15.

Here, the imaging lens 221 of the infrared imaging unit 200 is provided with the function of the visible light removal filter 230. However, by mixing a dye or the like into the imaging lens 320 of the visible light imaging unit 300, red is added to the imaging lens 320. The function of the external light removal filter 330 may be provided.

Moreover, in the said embodiment, although the projection part 100, the infrared imaging part 200, and the visible light imaging part 300 were arrange | positioned so that it might rank in a line with the X-axis direction, the projection part 100, the infrared imaging part 200, and If the visible light imaging unit 300 is not interposed therebetween, the projection unit 100, the infrared imaging unit 200, and the visible light imaging unit 300 may be arranged according to other layouts. For example, as shown in FIG. 11A, the projection unit 100 may be arranged on the Y-axis negative side of the infrared imaging unit 200, or as shown in FIG. The imaging unit 200 and the visible light imaging unit 300 may be arranged in a straight line in order from the X-axis negative side.

However, in the configuration of FIG. 11A, since the width of the circuit board 400 in the Y-axis direction is large, when the information acquisition device 2 is arranged in the frame portion of the personal computer 1 as shown in FIG. This configuration is unsuitable. In the configuration of FIG. 11A, the distance D between the projection unit 100 and the visible light imaging unit 300 is shortened, so that the captured image of the visible light imaging unit 300 is easily affected by infrared light. Therefore, it is desirable that the projection unit 100, the infrared imaging unit 200, and the visible light imaging unit 300 are arranged in a straight line as shown in FIGS. 3B, 3C, or 11B. .

Further, in the above embodiment, the luminance value is converted into the distance by the calculation using the distance conversion function. However, a table in which the luminance value and the distance are associated is held in the memory 26, and based on this table The distance may be acquired from the luminance value. In the process of FIG. 7A, the distance is acquired in S105. However, the distance acquired here may not be a distance value, but may be any information that can represent the distance.

In the above embodiment, the distance value is acquired by converting the luminance value into the distance based on the distance conversion function. However, the luminance value may be acquired as it is as information about the distance.

FIG. 12A is a flowchart showing a luminance image generation process in the case where the luminance value is directly acquired as information relating to the distance.

In the flowchart of FIG. 12 (a), S105 of FIG. 7 (a) is omitted, and S106 of FIG. 7 (a) is changed to S111. That is, in the flowchart of FIG. 12A, the luminance value is set to the corresponding pixel without generating the luminance value of each s pixel into a distance value, and a luminance image is generated (S111). Similar to the above-described embodiment, a value indicating an error (for example, 0) is set to the pixel for which an error is set in S104.

FIG. 12B is a flowchart showing the object detection process. In the flowchart of FIG. 12B, a luminance image is referred to instead of the distance image.

That is, when a luminance image is acquired in S111 of FIG. 12A (S211: YES), the CPU 31 determines the luminance value of the highest gradation in the luminance image (the luminance value indicating the closest approach to the information acquisition device 2). A value obtained by subtracting a predetermined value ΔB from is set as the luminance threshold Bsh2 (S212).

Next, the CPU 31 classifies an area having a luminance value (gradation value) higher than the luminance threshold Bsh2 as a target area on the luminance image (S213). Then, the CPU 31 executes the contour extraction engine, compares the segmented target region contour with the object shape extraction template stored in the memory 26, and compares the contour corresponding to the contour stored in the object shape extraction template. The target region is extracted as a region corresponding to the detection target object (S214). If the detection target object is not extracted in S214, the extraction of the detection target object from the distance image is an error. The CPU 31 repeats the processes of S211 to S214 until the object detection operation ends (S215).

In the flowchart of FIG. 12A, since the luminance value is not converted to the distance based on the distance conversion function, the luminance value of each pixel on the luminance image does not represent an accurate distance. That is, as shown in FIG. 6B, since the luminance and the distance have a relationship represented by a curved graph, the luminance value is adjusted according to this curve in order to obtain the luminance value as an accurate distance. There is a need. In the flowchart of FIG. 12A, since the acquired luminance value is set as a luminance image as it is, the luminance value of each pixel on the luminance image does not represent an accurate distance and includes an error.

However, in this case as well, since the luminance value of each pixel represents a rough distance, it is possible to detect the detection target object using the luminance image. Therefore, also in this modification, the detection target object can be detected by the flowchart of FIG.

In the flowchart of FIG. 12A, the luminance value acquired in S103 is set as the luminance image as it is in S111. However, the value set in the luminance image does not have to be a luminance value. Any information that can be expressed may be used.

In the above-described embodiment, the object detection device is configured by the information acquisition device 2 and the object detection unit 31a on the information processing device 3 side. However, the object detection device may be configured by one device.

FIG. 13 is a diagram showing a configuration example in this case. In the configuration example of FIG. 13, the information acquisition device 2 of FIG. 2 is replaced with an object detection device 7. For convenience of explanation, the same reference numerals in FIG. 10 denote the same parts as in FIG.

In the configuration example of FIG. 13, the function of the object detection unit 31 a is removed from the CPU 31, and the function of the object detection unit 21 e is added to the CPU 21. Further, the object shape extraction template is removed from the memory 33, and the object shape extraction template is added to the memory 26. Further, in the configuration example of FIG. 13, the distance acquisition unit 21b of FIG. 2 is replaced with a luminance information acquisition unit 21d. The luminance information acquisition unit 21d generates a luminance image based on the luminance value acquired from the CMOS image sensor 240.

Note that the object detection device 7 shown in FIG. 13 is also an example of the configuration according to the ninth aspect. The luminance information acquisition unit 21e and the object detection unit 21e correspond to an “object detection unit” according to claim 9.

FIG. 14 is a flowchart showing object detection processing in the present modification. In the flowchart of FIG. 14, S102 to S111 are performed by the luminance information acquisition unit 21d in FIG. 13, and S112 to S114 are performed by the object detection unit 21e in FIG. The processing of S102 to S111 is the same as S102 to S111 of FIG. 12A, and the processing of S112 to S114 is the same as S212 to S214 of FIG. Is omitted.

When the object detection timing arrives (S201: YES), the CPU 21 generates a luminance image by the processes of S102 to S111. Then, the CPU 21 refers to the generated luminance image, executes the processes of S112 to S114, and detects the detection target object. The processes of S201 to S114 are repeatedly executed until the object detection operation is completed (S115).

Also in this modified example, it is not necessary to convert the light projected on the target area into a dot pattern as in the above-described embodiment, so that the configuration of the projection unit 100 can be simplified. Further, since the distance information of each pixel is acquired based on the luminance value, the distance information can be acquired by a simple calculation process. In addition, the object detection is performed using the luminance value as it is without converting the luminance value into the distance by the distance conversion function, so that the object detection process is simplified.

In the above embodiment and the modification, the distance and the luminance value are acquired for all the pixels on the CMOS image sensor 240, but the distance and the luminance value are not necessarily acquired for all the pixels. A distance and a luminance value may be acquired every other pixel.

In the above embodiment, the visible light removal filter 230 of the infrared imaging unit 200 is disposed between the imaging lens 220 and the CMOS image sensor 240. However, the arrangement position of the visible light removal filter 230 is not limited to this. It is not necessarily provided, and may be closer to the target area than the imaging lens 220. Similarly, the arrangement position of the infrared light removing filter 330 of the visible light imaging unit 300 can be changed as appropriate.

In the above embodiment, the distance information is acquired by software processing by the function of the CPU 21, but the acquisition of distance information may be realized by hardware processing by a circuit.

Furthermore, in the above embodiment, the CMOS image sensor 240 is used as the light receiving element, but a CCD image sensor may be used instead. Also, light in a wavelength band other than infrared can be used for distance acquisition.

In addition, the embodiment of the present invention can be variously modified as appropriate within the scope of the technical idea shown in the claims.

DESCRIPTION OF SYMBOLS 1 ... Personal computer 2 ... Distance acquisition apparatus 21b ... Distance acquisition part 21d ... Luminance information acquisition part (object detection part)
21e ... Object detection unit (object detection unit)
31a ... Object detection unit 100 ... Projection unit 110 ... Light source 111 ... LED (light emitting diode)
111c ... Lens surface (lens part)
DESCRIPTION OF SYMBOLS 112 ...

Semiconductor laser

120, 140 ... Concave lens 200 ... Infrared imaging part (1st imaging part)
221: Imaging lens (first filter)
230 ... Visible light removal filter (first filter)
240 ... CMOS image sensor (first image sensor)
300 ... Visible light imaging unit (second imaging unit)
330: Infrared light removal filter (second filter)
340 ... CMOS image sensor (second image sensor)

Claims

A projection unit that projects infrared light onto a target area;
A first imaging unit having a first image sensor and imaging the target area;
A distance acquisition unit that acquires information on the distance to each position on the target area based on the luminance value acquired by the first image sensor;
A second imaging unit that has a second image sensor and captures an image with visible light,
The first imaging unit includes a first filter that removes visible light and transmits infrared light,
The second imaging unit includes a second filter that transmits visible light and removes infrared light,
The projection unit, the first imaging unit, and the second imaging unit are arranged so that the second imaging unit is not interposed between the projection unit and the first imaging unit. ing,
An information acquisition apparatus characterized by that.
The information acquisition device according to claim 1,
The first imaging unit, the second imaging unit, and the projection unit are arranged so as to be arranged in a straight line.
An information acquisition apparatus characterized by that.
In the information acquisition device according to claim 1 or 2,
The first imaging unit and the second imaging unit are disposed adjacent to each other,
An information acquisition apparatus characterized by that.
In the information acquisition device according to any one of claims 1 to 3,
The projection unit includes a light emitting diode that is a light source of the infrared light,
An information acquisition apparatus characterized by that.
The information acquisition device according to claim 4,
The projection unit further includes a lens unit that directs the infrared light emitted from the light emitting diode to the target region.
An information acquisition apparatus characterized by that.
In the information acquisition device according to any one of claims 1 to 3,
The projection unit includes a semiconductor laser that is a light source of the infrared light, and a concave lens that projects laser light emitted from the semiconductor laser onto the target region.
An information acquisition apparatus characterized by that.
In the information acquisition device according to any one of claims 1 to 6,
The first imaging unit includes an imaging lens that condenses the infrared light applied to the target area on the first image sensor;
The imaging lens is made of a material that absorbs visible light and transmits light in the infrared wavelength band, and the first filter is integrally included in the imaging lens.
An information acquisition apparatus characterized by that.
The information acquisition device according to any one of claims 1 to 7,
An object detection unit that detects an object present in the target area based on the information about the distance acquired by the information acquisition device;
An object detection apparatus characterized by that.
A projection unit that projects infrared light onto a target area;
A first imaging unit having a first image sensor and imaging the target area;
An object detection unit for detecting an object in the target area based on a luminance value acquired by the first image sensor;
A second imaging unit that has a second image sensor and captures an image with visible light,
The first imaging unit includes a first filter that removes visible light and transmits infrared light,
The second imaging unit includes a second filter that transmits visible light and removes infrared light,
The projection unit, the first imaging unit, and the second imaging unit are arranged so that the second imaging unit is not interposed between the projection unit and the first imaging unit. ing,
An object detection apparatus characterized by that.
The object detection device according to claim 9,
The first imaging unit, the second imaging unit, and the projection unit are arranged so as to be arranged in a straight line.
An object detection apparatus characterized by that.
The object detection device according to claim 9 or 10,
The first imaging unit and the second imaging unit are disposed adjacent to each other,
An object detection apparatus characterized by that.
In the object detection device according to any one of claims 9 to 11,
The projection unit includes a light emitting diode that is a light source of the infrared light,
An object detection apparatus characterized by that.
The object detection device according to claim 12,
The projection unit further includes a lens unit that directs the infrared light emitted from the light emitting diode to the target region.
An object detection apparatus characterized by that.
In the object detection device according to any one of claims 9 to 11,
The projection unit includes a semiconductor laser that is a light source of the infrared light, and a concave lens that projects laser light emitted from the semiconductor laser onto the target region.
An object detection apparatus characterized by that.
In the object detection device according to any one of claims 9 to 14,
The first imaging unit includes an imaging lens that condenses the infrared light applied to the target area on the first image sensor;
The imaging lens is made of a material that absorbs visible light and transmits light in the infrared wavelength band, and the first filter is integrally included in the imaging lens.
An object detection apparatus characterized by that.