WO2015137341A1 - Light projection device and light projection method - Google Patents

Abstract

　A light projection device according to the present invention is equipped with: a light projection unit provided with a light projection optical system for projecting light, the light projection unit projecting light of a prescribed shape to an object to which light is to be projected; a position detection unit for detecting the three-dimensional position of the object to which light is to be projected; a light projection direction change unit for changing the direction of the light projected by the light projection unit; a light projection direction control unit for making the light projection direction change unit change the direction of the projected light and having the light projected to the object to which light is to be projected at a position detected by the position detection unit; a shape calculation unit for calculating the shape of the light projected to the surface of the object to which light is to be projected at a position detected by the position detection unit; and a shape control unit for making the light projection unit project light of the shape calculated by the shape calculation unit.

Description

Floodlighting device and floodlighting method

The present invention relates to a light projecting device that projects light of a predetermined shape onto the surface of an object.

In recent years, so-called projection mapping has been performed in which images, computer graphics, and the like are projected onto a three-dimensional object such as a building or furniture, or an uneven surface. Projection mapping is a video technique that synchronizes the real and the video, so there is an attractive world view created by the fusion of the real and the video.

In projection mapping, a projected image is projected according to the surface shape of the three-dimensional object that is the projection target so that when the image is projected, the projected image is exactly superimposed on the three-dimensional object that is the projection target Is changed. Fantastic and illusion that makes the viewer feel as if the three-dimensional object moves, deforms, or emits light by moving or changing the image that overlaps the three-dimensional object that is the projection target. Realistic images are expressed.

Here, there is a demand for performing projection mapping not only on so-called static objects such as buildings and furniture but also on dynamic (moving) objects as projection objects. Technology has been proposed. For example, the optical axis of light incident on the camera from the projection object is matched with the optical axis of light projected from the projector, and the position of the projection object in the image captured by the camera is separated from a predetermined position. If it is, there is a technique for controlling the projection direction of the projector so as to approach the predetermined position (see Patent Document 1).

However, the technique disclosed in Patent Document 1 requires that the optical axes of the camera and the projector coincide with each other. Further, the technique disclosed in Patent Document 1 cannot control the light projecting direction of the projector when the moving speed of the projection target is fast and is not captured in the captured image of the camera.

Also, in projection mapping, the projected image needs to be changed according to the surface shape of the projection object. If this process takes time, the image will not catch up with the movement of the object. May not be mapped to the object.

JP 2007-312026 A

The present invention is an invention made in view of the above-described circumstances, and the present invention provides a light projecting apparatus and a method capable of projecting light (video) having a predetermined shape onto a moving object. For the purpose.

The light projecting device according to the present invention includes a light projecting optical system that projects light, a light projecting unit that projects light of a predetermined shape onto the light projecting object, and a three-dimensional position of the light projecting object. A position detecting unit to detect, a light projecting direction changing unit for changing the light projecting direction of the light projecting unit, and a position detected by the position detecting unit by causing the light projecting direction changing unit to change the light projecting direction. A projection direction control unit that projects light onto the projection target object, a shape calculation unit that calculates the shape of light projected onto the surface of the projection target object at the position detected by the position detection unit, A shape control unit that causes the light projecting unit to project light having the shape calculated by the shape calculating unit. Therefore, when the light projecting object moves, it is possible to quickly project the light projecting object.

The above and other objects, features and advantages of the present invention will become apparent from the following detailed description and the accompanying drawings.

It is a figure which shows the example of the functional block of the light projection apparatus by embodiment of this invention. It is a figure for demonstrating the external appearance of the light projector shown in FIG. 1, and a light projection part. It is a figure which shows an example (shift of a lens group) of the light projection part of the light projector shown in FIG. It is a figure which shows an example (rotation of a mirror) of the light projection part of the light projector shown in FIG. It is a figure which shows an example of the light projection direction change part of the light projection apparatus shown in FIG. It is a figure for demonstrating the conventional tracking method. It is a time chart of the light projection process of the conventional tracking method. It is a figure for demonstrating the asynchronous method of the light projection apparatus shown in FIG. It is a time chart of the light projection process of the asynchronous method of the light projector shown in FIG. It is a figure for demonstrating the synchronization method of the light projector shown in FIG. It is a time chart of the light projection process of the synchronization method of the light projector shown in FIG. It is a flowchart of the light projection process of the light projector shown in FIG. It is a figure for demonstrating the modification (no zoom and focus function) of the asynchronous method of the light projector shown in FIG. It is a figure for demonstrating the modification (with a zoom and a focus function) of the asynchronous method of the light projector shown in FIG. It is a figure which shows the example of the light projection part used with the modification of the asynchronous method of the light projector shown in FIG.

<Embodiment 1>
Hereinafter, a projector according to an embodiment of the present invention will be described. In addition, the structure which attached | subjected the same code | symbol in each figure shows that it is the same structure, The description is abbreviate | omitted suitably. In this specification, when referring generically, it shows with the reference symbol which abbreviate | omitted the suffix, and when referring to an individual structure, it shows with the reference symbol which attached the suffix.

FIG. 1 is a diagram illustrating an example of functional blocks of a light projecting device 100 according to an embodiment of the present invention. 2 shows an external view of the light projecting device 100, FIGS. 3 and 4 show an example of a light projecting unit 3 to be described later, and FIG. 5 shows an example of a light projecting direction changing unit 4.

The light projecting device 100 includes a light projecting main body unit 1, a position detecting unit 2, a light projecting unit 3, a light projecting direction changing unit 4, and an interface unit 5. The light projecting device 100 is a device that acquires a video from the external video content storage unit 6 and projects a video based on the acquired video to the projection target object Ob.

The light projecting body unit 1 performs overall control of the light projecting device 100, and includes a video content acquisition unit 11, an image processing unit 12 (shape calculation unit), a video display control unit 13 (shape control unit), and a light projection direction. A control unit 14 is provided.

The video content acquisition unit 11 acquires video from the video content storage unit 6. The video content storage unit 6 is a portable recording medium such as a USB (Universal Serial Bus) memory, for example, and the video content acquisition unit 11 includes a connection unit corresponding to the recording medium and implements a read / write function. It is.

The image processing unit 12 generates a video that has been changed according to an instruction from the video display control unit 13 from the video acquired by the video content acquisition unit 11. For example, the image processing unit 12 changes the shape of the image in accordance with a change (for example, rotation) of the shape of the projection object Ob, or changes the size of the image according to the distance to the projection object Ob. Or perform necessary calculation processing such as keystone correction and luminance correction. The image processing unit 12 includes a shape deformation processing unit 121. The shape transformation processing unit 121 performs a part of the image processing performed by the image processing unit 12, for example, a process of changing the shape of the video in accordance with the appearance of the projected object Ob. In the embodiment, the shape deformation processing unit 121 is configured to deform the shape of the video as a part of the image processing. In the case of changing, for example, a rough shape change such as no rotation may be performed as part of the processing.

The video display control unit 13 instructs the image processing unit 12 to perform image processing according to the position coordinates (x, y, z) of the projection object Ob detected by the position detection unit 2, and image processing by the image processing unit 12 is performed. The subsequent image is projected to the light projecting unit 3. For example, the video display control unit 13 includes a transmissive liquid crystal panel and a light source, displays video on the liquid crystal panel, transmits irradiation light from the light source, and outputs the transmitted light to the light projecting unit 3. The video display control unit 13 notifies the projection direction control unit 14 of the end of the image processing by the video display control unit 13 when the synchronization processing is instructed by the user via the interface unit 5. The synchronization process is described in the section <Follow-up process>.

The light projecting direction control unit 14 instructs the light projecting direction changing unit 4 to direct the light projecting direction of the light projecting unit 3 to the position of the light projecting object Ob detected by the position detecting unit 2.

The position detection unit 2 repeatedly detects the position coordinates (for example, coordinates in the world coordinate system) of the projection object Ob at a predetermined cycle, and outputs the position coordinates to the video display control unit 13 and the projection direction control unit 14. The position detection unit 2 is, for example, an IR (infrared) camera, and includes a light source and an image sensor. The position detection unit 2 measures the time until the irradiation light from the light source is reflected by the projection object Ob and returns. A distance image of the light object Ob is created. The position detection unit 2 is not limited to the IR camera, and may be a stereo camera, for example, and may detect the position coordinates of the projection object Ob by a distance measuring method using parallax of a stereo image. In the embodiment, as shown in FIG. 2, the IR camera (position detecting unit 2) is installed on the upper surface of the projector main body (projecting main body unit 1). It may be built in or may be installed at a location away from the projector body. The IR camera (position detection unit 2) may be installed in a place where the position of the projection object Ob can be detected. In this case, the IR camera (position detecting unit 2) and the projector main body (light projecting main unit 1) have a function of transmitting and receiving position coordinates detected by the position detecting unit 2. Incidentally, by mounting the position detection unit 2 on the light projecting device 100, the operability such as carrying is improved, and the light projection directions of the position detection unit 2 and the light projection unit 3 are matched, that is, the position detection unit. 2 can be directed toward the light projecting object Ob.

The light projecting unit 3 has a light projecting optical system 31 and projects the video input from the video display control unit 13 onto the light projecting object Ob. The light projecting optical system 31 includes one or a plurality of lens groups that are one or a plurality of optical lenses along the optical axis, and may further include a mirror or the like as necessary.

The light projecting direction changing unit 4 changes (corrects) the light projecting direction of the light projecting unit 3 in accordance with an instruction from the light projecting direction control unit 14. In the embodiment, the light projection direction is changed by the following four methods.

First, as shown in FIG. 2, the lens barrel 3a itself, which is an example of the light projecting unit 3, has two horizontal directions or vertical directions in the direction of the arrows (perpendicular to the optical axis of the light projecting unit 3 and perpendicular to each other. The projection direction is changed by shifting to (direction). The light projecting direction changing unit 4 in this case is a drive device such as an actuator using a piezoelectric element or an actuator using a voice coil for shifting the lens barrel. The shift direction of the lens barrel 3a is not limited to the arrow direction, and may be a direction orthogonal to the optical axis of the light projecting unit 3.

Second, as shown in FIG. 3, the lens group (projecting optical system 31) in the lens barrel (projecting unit 3) is perpendicular to the optical axis of the projecting optical system 31 and is mutually orthogonal. The light projection direction is changed by shifting in two orthogonal directions (horizontal direction or vertical direction). The lens barrel 3b of FIG. 3A includes three lens groups GP1, GP2, and GP3 each including one optical lens as the light projecting optical system 31, and the lens group GP2 is shifted as necessary. The lens barrel 3c in FIG. 3B includes lens groups GP1 and G3 among the three lens groups, each including one optical lens, the lens group GP2 ′ including a plurality of optical lenses, and the lens group GP2 ′ including the lens group GP2 ′. Shifted by group. The light projecting direction changing unit 4 in this case is a driving device for shifting the lens group. The shift direction of the lens groups GP2 and GP2 ′ is not limited to the arrow direction, and may be a direction orthogonal to the optical axis of the light projecting optical system 31.

Third, as shown in FIG. 4, the light projection direction is changed by rotating the mirror (light projection optical system 31) in the lens barrel (light projection unit 3). FIG. 4A is a front view of the lens barrel 3d including the mirror M1 and the mirror M2 as the light projecting optical system 31 as viewed from the light projecting object Ob side. FIG. 4B is a perspective view of the lens barrel 3d.

The lens barrel 3d is formed by connecting three cylindrical portions, a first cylindrical portion, a second cylindrical portion, and a third cylindrical portion. The other end of the first cylindrical portion and the one end of the second cylindrical portion are connected by the first connecting portion so that the central axes of the respective cylindrical portions are orthogonal to each other. The other end of the second cylindrical portion and the one end of the third cylindrical portion are perpendicular to the central axis of each cylindrical portion, and the central axis of the third cylindrical portion is the central axis of the first cylindrical portion and the second cylinder. They are connected by the second connecting part so as to coincide with the normal line of the plane constituted by the central axis of the part. The first connecting portion is provided with a mirror M1 having a rotation axis AX1 in a direction coinciding with a normal line of a plane formed by the central axis of the first cylindrical portion and the central axis of the second cylindrical portion, and the second connecting portion. A mirror M2 having a rotation axis AX2 in a direction coinciding with a normal line of a plane constituted by the central axis of the second cylindrical part and the central axis of the third cylindrical part is installed in the part. The light beam L is incident from one end of the first cylindrical portion, is reflected by the mirror M1, is incident on the mirror M2, is reflected by the mirror 2, and is emitted from the other end of the third cylindrical portion. As the mirrors M1 and M2 are rotated by a predetermined angle about the respective rotation axes AX1 and AX2, the emission direction of the light beam L is changed. The light projecting direction changing unit 4 in this case is a drive device that rotates the mirror.

Fourth, as shown in FIG. 5, the light projecting main body 1 having the position detection unit 2 is mounted on the pan / tilt head, and the pan / tilt head is driven to perform light projection. The direction is changed. The pan / tilt head includes a pan driving unit 41 and a tilt driving unit 42. The pan drive unit 41 rotates in the pan direction (see an arrow) about the pan rotation axis AX41. The tilt drive unit 42 rotates in the tilt direction (see an arrow) about the tilt rotation shaft 42 orthogonal to the pan rotation axis AX41. The light projecting direction changing unit 4 in this case is a pan / tilt head.

4 and 5, if the respective light projecting direction changing units 4 (drive devices) are incorporated in the lens barrels (light projecting units) 3b, 3c, and 3d shown in FIGS. By exchanging only the (light projection unit 3), it is possible to obtain the light projection device 100 according to the distance to the light projection object Ob, the environment, the image to be projected, and the like.

The interface unit 5 includes an input unit that inputs an instruction from the user to the light projecting device 100, and an output unit that notifies the user of a message or the like from the light projecting device 100. The interface unit 5 is, for example, a touch panel. In the touch panel, the input unit is a position input device that detects and inputs an operation position such as a resistance film method or a capacitance method, and the output unit is a display device. In this touch panel, one or a plurality of input content candidates that can be input such as buttons are displayed on the display surface of the display device, and when the user touches a button that displays the input content that the user wants to input, the button displays the input content. The displayed contents are input to the light projecting device 100 as user operation input contents. In the embodiment, the light projecting device 100 includes two methods as a light projecting method (hereinafter also referred to as “following method”) to the moving body, as described in the section <Following method>. The user instructs the light projecting device 100 through the interface unit 5 which tracking method to use.

The light projecting main unit 1 is constituted by, for example, a microcomputer including a microprocessor, a memory, and peripheral circuits thereof. The memory is used for controlling a program for performing image processing and the entire light projecting device 100. Various programs such as control programs and various data such as data necessary for program execution are stored, and a microprocessor such as a so-called CPU (Central Processing Unit) executes a program stored in the memory. All or part of each functional unit is realized.

<Follow-up processing>
The light projecting device 100 can execute two following methods. The first method is a method of following the moving body by directing the light projecting direction of the light projecting unit 3 toward the light projecting object Ob every time the position detecting unit 2 detects the position of the light projecting object Ob. is there. The second method is to move the light projecting direction of the light projecting unit 3 toward the light projecting object Ob between the time when only the shape deformation process of the image process is completed and the time when the image process is completed. It is a method of following the body. Hereinafter, the first method is referred to as “asynchronous method”, and the second method is referred to as “synchronous method”. Directing the light projecting direction of the light projecting unit 3 toward the light projecting object Ob is called “optical correction”.

First, the “asynchronous method” will be described.

A conventional method, that is, a case of following a moving object by performing image processing and changing an image without performing optical correction will be described with reference to FIGS. The case of following the moving object using the “method” will be described with reference to FIGS.

In the conventional method, the image projected on the projection object is created only by image processing. For example, in the conventional method, first, the position of the projection object is detected by a camera or the like, and image processing for correcting the projected image according to the detected position, for example, in the projected image A predetermined image is cut out, and an image to be projected is created by performing processing such as creating an image whose position is changed, and the created image is projected. The image processing time tends to become longer as the projected image becomes more complicated and as the surface shape of the projection object becomes more complicated. Therefore, when such image processing takes time, if the projection target is a moving object, the projected video is not projected onto the projection target, that is, the projected video is It may be removed from the projection object Ob. In addition, when a video (moving image) is projected by a projector using a plurality of frame buffers, the delay time also occurs, so that there are more cases where the video is not projected onto the projection target. .

FIG. 6 shows an example in which an image is projected onto a moving body by a conventional method. The horizontal axis indicates the position of the projection object, and the vertical axis indicates the time. The projection object is indicated by an ellipse, and the projected image is indicated by a lattice pattern without a frame. At the top, the result of the ideal project matching, that is, an ellipse with a lattice pattern in which the image fits perfectly with the moving projection object is shown.

Consider a case where the position of the projection object at position d2 is detected at time t2. When the time from the time t2 to the time t4 is required as the image processing time, the video after the image processing is projected at the position d2 at the time t4. However, at time t4, the projection object has moved to the position d4, and the projected image is not projected onto the projection object.

FIG. 7 is a timing chart of the light projection processing by the conventional method. In FIG. 7, the uppermost “IR camera” indicates position detection processing by an IR (infrared) camera (distance image camera) of the position detection unit 2, and a rectangle indicates a distance image detection cycle. The second stage “position detection” indicates a process for calculating the position coordinates (x, y, z) of the projection object from the distance image detected by the IR camera, and the rectangle indicates the calculation time. “N”, “N + 1”, etc. in the rectangle indicate identifiers of the positions of the projection objects Ob detected by the IR camera (hereinafter referred to as “positions“ N ””, etc.). The third level “image formation” indicates image processing performed by the image processing unit 12 according to the position coordinates of the projection object, and the rectangle indicates the processing time. “N” or the like in the rectangle indicates image processing according to the position “N” or the like. The fourth “frame Buf” indicates an image stored in the frame buffer. “N” or the like in the rectangle indicates that an image processed according to the position “N” is stored. Here, for convenience of explanation, it is assumed that there is one frame buffer. The bottom row shows the projected image and the projection object.

As shown at the bottom of FIG. 7, for example, an image corresponding to the projection object Ob at the position “N” is displayed at the position “N” even though the projection object Ob is at the position “N + 4”. It will be flooded. Note that the lowermost diagram in FIG. 7 schematically shows that the projected image is deviated from the moved projection object.

Next, FIG. 8 shows an example in which light is projected onto a moving body by the “asynchronous method” of the light projecting device 100. As in the case shown in FIG. 6, consider a case where the position of the projection target at position d2 is detected at time t2. When the time from time t2 to t4 is required as the image processing time, the image-processed video is projected onto the light projecting object moving to the position d4 at time t4.

FIG. 9 is a timing chart of the light projection processing by the “asynchronous method” of the light projector 100. The first to fourth charts in FIG. 9 are the same as the first to fourth charts in FIG. The fifth stage “optical tracking” indicates the timing of optical correction. “N” or the like in the rectangle indicates the position of the projection object Ob detected by the IR camera, that is, the direction in which the projection direction of the projection unit 3 is changed. The bottom row shows the projected image and the projection object Ob. The ellipse at the bottom indicates the optically corrected projection object Ob, the lattice pattern without a frame indicates the projected image, and “N” and the like therein indicate the projection target at the position “N”. The video image-processed according to the object Ob is shown.

As shown in FIG. 9, in the “asynchronous method”, the light projecting device 100 performs optical correction asynchronously with image processing. That is, the light projecting device 100 performs optical correction as soon as the position is detected by the IR camera (position detection unit 2) without waiting for the end of the image processing. Further, it is not affected by the delay time due to the frame buffer of the projector. Accordingly, it is possible to project an image on the projection object Ob that moves at high speed. However, since the light projecting device 100 projects an image on the light projecting object Ob by optical correction before the image processing is completed, it cannot project a perfect image corresponding to the position of the light projecting object Ob. However, as shown at the bottom of FIG. 9, it is possible to project a slightly previous image without removing the image from the projection object Ob. That is, the projected object Ob is projected on the projected object Ob with a slight delay while being tracked at high speed by optical correction.

Next, FIG. 10 shows an example in which light is projected onto a moving body by the “synchronization method” of the light projecting device 100. As in the case shown in FIG. 6, consider a case where the position of the projection target at position d2 is detected at time t2. In the image processing, when the time from the time t2 to the time t3 is required as the time for the shape deformation process, the image after the shape deformation process is projected onto the light projecting object moving to the position d3 at the time t3. . Then, when the image processing ends at time t4, at time t4, the image-processed video is projected onto the projection object that has moved to the position d4. An image for which only shape processing has been completed is indicated by a dot pattern without a frame, and an image for which image processing has been completed is indicated by a lattice pattern without a frame.

FIG. 11 is a timing chart of the light projecting process by the “synchronization method” of the light projecting device 100. The first to fifth charts in FIG. 11 are the same as the first to fifth charts in FIG. In the third-stage “image formation” rectangle, “(N)” and the like indicate shape processing in the image processing at the position “N”, and “(N)” in the fourth-stage “frame Buf”. Etc. indicate that an image for which only shape processing has been completed is stored.

As shown in FIG. 11, in the “synchronization method”, the light projecting device 100 performs optical correction in synchronization with image processing. That is, the light projecting device 100 performs the optical correction so that the light projecting direction is directed to the position of the most recently detected light projecting object Ob at the time when the shape processing is completed in the image processing, and the image processing is completed. At the time, further, optical correction is performed so that the light projection direction is directed to the position of the light projection object Ob detected most recently. Since only the shape processing is completed in a relatively short time, when the moving speed of the projection object Ob is relatively low, the light projection device is obtained by synchronizing the optical correction and the shape processing. 100 can project an image that exactly matches the projection object Ob.

When corresponding to the tracking process of a moving object only by image processing, a predetermined image projected on a moving object is cut out from one frame image, and the predetermined image is moved to the position detected by the position detection unit 2. However, the light projecting device 100 does not need to perform this process by performing optical correction. Furthermore, since the predetermined image is moved within one frame image, the number of pixels of the predetermined image must be reduced. However, when performing optical correction, more pixels are allocated to the predetermined image. Thus, the resolution is improved, and the light projecting device 100 can project a clearer image.

In FIG. 11, in the “image formation” in the third stage, the light projecting device 100 performs the next image processing after the image processing including the shape processing is completed. It may be performed in parallel with image processing. For example, the light projecting device 100 performs the process “(N)” in parallel with the process “N-3”. Although resources and the like for performing parallel processing are required, image processing can be performed in a shorter time. Therefore, the light projecting device 100 projects an image on the light projecting object Ob that moves faster. Is possible.

<Operation>
A light projection process performed by the light projection device 100 according to the embodiment will be described. FIG. 12 is a flowchart of the light projection process. The flowchart on the left side of FIG. 12 is a process performed by the video display control unit 13, and the flowchart on the right side is a process performed by the light projection direction control unit 14.

As described above, when tracking by the “asynchronous method” is performed, the video display control unit 13 and the light projecting direction control unit 14 operate independently without synchronizing, and perform tracking by the “synchronous method”. When performing, it operates in synchronization.

First, the user operates the interface unit 5 to instruct a follow-up method of either “synchronization method” or “asynchronous method”. And a user inputs the command which instruct | indicates the start of a light projection process.

The light projecting main body unit 1 that has detected that a command for instructing the start of the light projection process is input via the interface unit 5 first reads the video content from the video content storage unit 6 to the video content acquisition unit 11. The start of operation is instructed to the position detection unit 2, the light projecting unit 3, and the light projecting direction changing unit 4. In addition, the light projecting main body unit 1 follows the user-instructed tracking method, that is, the “synchronizing method” or “asynchronous” to the image processing unit 12, the video display control unit 13, and the light projection direction control unit 14. One of "method" is notified.

Upon receiving the instruction, the video content acquisition unit 11 reads the video data from the video content storage unit 6 and starts output to the image processing unit 12. In addition, the position detection unit 2 starts detecting the position of the projection object Ob, and periodically detects the position coordinates of the projection object Ob detected at a predetermined period, and the image display control unit 13 and the projection direction control. To the unit 14.

First, processing (left flowchart) performed by the video display control unit 13 will be described.

The video display control unit 13 that has input the position coordinates of the projection object Ob from the position detection unit 2 (step S10) outputs the input position coordinates to the image processing unit 12.

When the previous image processing has been completed (step S11: Yes), the image processing unit 12 that has input the video data from the video content acquisition unit 11 has the latest projection object Ob input from the video display control unit 13. Image processing using the position coordinates is started. When the “asynchronous method” is notified as the follow-up method from the light projecting body unit 1 (step S12: No), the image processing unit 12 responds to the position coordinates of the light projecting object Ob with respect to the video data. Perform image processing. Then, the image processing unit 12 stores the image-processed video in the frame buffer (step S13).

The video display control unit 13 reads the video from the frame buffer and displays it at a predetermined frame rate (step S16). In the flowchart of FIG. 12, for convenience of explanation, it is described that video is displayed in step S16. However, the video display control unit 13 always reads video from the frame buffer and displays it at a predetermined frame rate. It is assumed that

On the other hand, when “synchronization method” is notified as the follow-up method from the light projecting main body unit 1 in step S12 (step S12: Yes), the image processing unit 12 performs the shape transformation process in the video data. And stored in the frame buffer (step S14). Then, the image processing unit 12 notifies the video display control unit 13 that the shape deformation process has been completed. Upon receiving the notification, the video display control unit 13 outputs a synchronization signal to the light projection direction control unit 14.

Further, the image processing unit 12 performs image processing other than the shape deformation processing on the video data and stores it in the frame buffer (step S15). Then, the image processing unit 12 notifies the video display control unit 13 that the shape deformation process has been completed. Upon receiving the notification, the video display control unit 13 outputs a synchronization signal to the light projection direction control unit 14.

The video display control unit 13 reads the video from the frame buffer and displays it at a predetermined frame rate (step S16). The video display control unit 13 displays the video after the shape transformation process when the video subjected to the shape transformation process is stored in the frame buffer, and the video after the whole image processing is stored in the frame buffer. If so, display the video.

Next, the process (the flowchart on the right side) performed by the light projection direction control unit 14 will be described.

The projection direction control unit 14 that has input the position coordinates of the projection object Ob from the position detection unit 2 (step S20) is notified of the “asynchronous method” as the follow-up method from the projection main unit 1 ( Step S21: No), in accordance with the light projection direction changing unit 4, the instruction data for directing the light projection direction of the light projecting unit 3 to the position coordinates of the light projection object Ob input from the position detection unit 2 is created. And output to the light projecting direction changing unit 4. For example, when the light projecting direction changing unit 4 is a pan / tilt head as shown in FIG. 5, pan angle information and tilt angle information are calculated and output to the light projecting direction changing unit 4.

Upon receiving the instruction, the light projecting direction changing unit 4 operates based on the instruction data input from the light projecting direction control unit 14, and changes the light projecting direction of the light projecting unit 3 (step S23).

On the other hand, when “synchronization method” is notified as the follow-up method from the light projecting main body unit 1 in step S21 (step S21: Yes), the light projection direction control unit 14 receives the synchronization signal from the video display control unit 13. Is input (step S22: No), and when a synchronization signal is input (step S22: Yes), the light projecting unit is set to the position coordinates of the latest projecting object Ob input from the position detecting unit 2. 3 is generated in accordance with the light projecting direction changing unit 4 and is output to the light projecting direction changing unit 4. Upon receiving the instruction, the light projecting direction changing unit 4 operates based on the instruction data input from the light projecting direction control unit 14, and changes the light projecting direction of the light projecting unit 3 (step S23). However, if the latest position coordinates are not different from the previous position coordinates by a predetermined threshold value or less, the light projection direction is maintained.

<Embodiment 2>
In the first embodiment, the light projecting device 100 performs the tracking process of the moving body by providing a function of changing the light projecting direction of the lens barrel (light projecting unit) 3. In the second embodiment, the lens barrel (light projecting unit) 3 is provided with not only a function of changing the light projecting direction but also a zoom function and a focus function.

When the light projecting object Ob approaches or moves away from the light projecting device 100, the apparent size of the light projecting object Ob changes as viewed from the light projecting device 100. FIG. 13 shows an example when the light projecting object Ob approaches the light projecting device 100. As shown in FIG. 13, at time t4, since the light projection object Ob is closer to the light projection device 100 than at time t2, the light projection object Ob (ellipse) becomes larger. However, since the image (lattice pattern without a frame) is the size of the light projecting object Ob at the time t2, it is smaller than the light projecting object Ob and becomes a blurred image.

An example in which a zoom function and a focus function are added to the lens barrel (light projecting unit) 3 is shown in FIG. At time t4, an image that matches the size of the projection object Ob is displayed for the projection object Ob that is apparently larger than that at time t2. The projection optical system 31 is changed to the wide angle side by the zoom function, and a large image is projected onto the projection object Ob. Further, the focus function corrects a focus shift due to a change in the distance between the light projecting object Ob and the light projecting device 100.

FIG. 15 is a diagram illustrating an example of a lens barrel (light projecting unit) 3e according to the second embodiment. The lens barrel (light projecting unit) 3e has two groups of lens groups GP4 and GP5, and performs zooming by moving the lens groups GP4 and GP5, and changes the focal position.

In this case, the light projecting direction control unit 14 instructs the light projecting direction changing unit 4 to change the angle of view and the focal length in addition to the change of the light projecting direction according to the distance to the light projecting object Ob. Then, the size of the image projected by the light projecting unit 3 is changed, and the focus is adjusted.

The change in the size of the video accompanying the change in the distance between the light projecting object Ob and the light projecting device 100 can also be performed by image processing. For example, the image processing unit 12 cuts out a predetermined image and converts it into a size corresponding to the apparent size of the projection object Ob. However, when the light projection unit 3 is provided with a zoom function and optically zooms, the moving body can be moved at high speed. Since it is impossible to adjust the focal length by image processing, the focus function needs to be performed optically.

In the embodiment, the user selects to use the “synchronizing method” or “asynchronous method” as the follow-up method, and the user instructs the light projecting device 100 via the interface unit 5. The light projecting body unit 1 (switching unit) calculates the moving speed of the light projecting object Ob based on the position coordinates of the light projecting object Ob periodically detected by the position detecting unit 2, and the moving speed is predetermined. The “asynchronous method” may be used when the threshold is equal to or higher than the threshold, and the “synchronous method” may be used when the calculated moving speed is lower than the threshold. The predetermined threshold is determined from various conditions such as the detection period of the position detection unit 2 and the time required to change the light projection direction of the light projection unit 3.

This specification discloses various modes of technology as described above, and the main technologies are summarized below.

A light projecting device according to an aspect includes a light projecting optical system that projects light, a light projecting unit that projects light of a predetermined shape onto a light projecting object, and a three-dimensional position of the light projecting object. A position detecting unit to detect, a light projecting direction changing unit for changing the light projecting direction of the light projecting unit, and a position detected by the position detecting unit by causing the light projecting direction changing unit to change the light projecting direction. A projection direction control unit that projects light onto the projection target object, a shape calculation unit that calculates the shape of light projected onto the surface of the projection target object at the position detected by the position detection unit, A shape control unit that causes the light projecting unit to project light having the shape calculated by the shape calculating unit.

A light projecting method according to another aspect includes a light projecting optical system that projects light, and a light projecting device that includes a light projecting unit that projects light of a predetermined shape onto a light projecting target. The method includes a position detecting step of detecting a three-dimensional position of the light projecting object, a light projecting direction changing step of changing the light projecting direction of the light projecting unit, and a light projecting direction changing step. A light projection direction control step of changing the light direction to project light onto the light projection object at the position detected in the position detection step, and a surface of the light projection object at the position detected in the position detection step A shape calculating step for calculating the shape of the light to be projected onto the light source, and a shape control step for causing the light projecting unit to project the light having the shape calculated in the shape calculating step.

According to this configuration, the light projecting device changes the light projecting direction of the light projecting unit and projects light onto the light projecting object. Therefore, when the light projecting object moves, the light projecting object quickly Can be projected.

In the above-described light projecting device, an asynchronous mode in which the light projecting direction control unit causes the light projecting direction changing unit to change the light projecting direction is asynchronous with the timing at which the shape control unit projects light onto the light projecting unit. Prepare.

According to the asynchronous mode, the light projecting direction of the light projecting unit is changed without synchronizing with the timing of projecting the light projecting object, that is, without depending on the end of the video processing. In addition, the light projecting device can quickly project the light projecting object.

Moreover, in the above-described light projecting device, the light projecting direction control unit causes the light projecting direction changing unit to change the light projecting direction in synchronization with the timing at which the shape control unit projects light onto the light projecting unit. A synchronization mode, and when the shape control unit finishes a part of the process performed by the shape calculation unit, the shape control unit projects light from the part of the process to the light projecting unit, and performs all the processes. When the process is completed, the light from all the processes is projected onto the light projecting unit.

According to the synchronous mode, the projection object moves at a low speed because it synchronizes with the timing of projecting the projection object, that is, the projection direction of the projection unit is changed according to the end of the video processing. In this case, the light projecting device can project the light obtained by part of the processing of the shape calculating unit and the light obtained by the entire process onto the light projecting object.

In the above-described light projecting device, the light projecting device further includes a switching unit that switches between the synchronous mode and the asynchronous mode according to a moving speed of the light projecting object, and when the mode is switched to the synchronous mode, When the direction control unit changes the projection direction to the projection direction change unit in synchronization with the timing at which the shape control unit projects the projection unit, and is switched to the asynchronous mode, The light projecting direction control unit is configured to set the light projecting direction to the light projecting direction changing unit every time the position detecting unit detects a position, asynchronously with the timing at which the shape control unit projects light onto the light projecting unit. Change it.

According to this configuration, the light projecting device can project the light projecting object in an appropriate mode according to the moving speed of the light projecting object. That is, when the light projecting object moves at high speed, the light projecting device projects light in the asynchronous mode so that the light is not removed. When the light projecting object moves at low speed, the light projecting object has a desired shape as much as possible. The light projecting device projects light in a synchronous mode so as to project light onto a light projecting object.

In the above-described light projecting device, the position detection unit is mounted on the own device.

According to this configuration, since the position detection unit is mounted on the light projecting device, the operability such as carrying is improved, and the light projecting direction of the light projecting unit, that is, the direction of the light projecting object, The position detection unit can be directed.

In the light projecting device described above, the position detection unit is mounted on a device different from the own device.

According to this configuration, since the position of the projection object can be detected at a place where the position of the projection object can be easily detected, the light projection device can detect a more accurate three-dimensional position. It becomes. As a result, the light projecting device can project light following the moving light projecting object.

In the above-described light projecting device, the light projecting optical system includes one or a plurality of lens groups including one or a plurality of optical lenses, and the light projecting direction changing unit includes at least one lens group, The projection direction of the projection unit is changed by moving the projection unit in a direction orthogonal to the optical axis of the projection optical system.

In the above-described light projecting device, the light projecting optical system includes one or a plurality of mirrors, and the light projecting direction changing unit rotates the mirror, thereby causing the light projecting direction of the light projecting unit to be the light projecting direction. To change.

In the above-described light projecting device, the light projecting direction changing unit moves the light projecting unit in a direction orthogonal to the optical axis of the light projecting optical system, thereby changing the light projecting direction of the light projecting unit. change.

According to this configuration, the light projecting device can easily change the light projecting direction of the light projecting unit.

In the above-described light projecting device, the light projecting unit is a lens barrel, and the light projecting direction changing unit is built in the lens barrel.

According to this configuration, the light projecting device can be easily replaced with a lens barrel that is suitable for projecting the light projecting object.

In the above-described light projecting device, the light projecting direction changing unit further includes a zoom function for causing the light projecting unit to change a focal length of the light projecting optical system, and a function for projecting the light projecting object to the light projecting unit. A focusing function for focusing the light of the predetermined shape projected on the surface is provided.

According to this configuration, when the distance between the light projecting object and the light projecting device is changed, the light projecting device quickly transmits light of a predetermined shape having a size corresponding to the object to the moving object. It is possible to project in-focus light (video).

According to the present invention, light (video) having a predetermined shape can be projected onto a moving object.

This application is based on Japanese Patent Application No. 2014-048823 filed on March 12, 2014, the contents of which are included in the present application.

In order to express the present invention, the present invention has been properly and fully described through the embodiments with reference to the drawings. However, those skilled in the art can easily change and / or improve the above-described embodiments. It should be recognized that this is possible. Therefore, unless the modifications or improvements implemented by those skilled in the art are at a level that departs from the scope of the claims recited in the claims, the modifications or improvements are not covered by the claims. To be construed as inclusive.

According to the present invention, it is possible to provide a light projecting device and a light projecting method.

Claims (12)

1. A light projecting optical system that projects light, and a light projecting unit that projects light of a predetermined shape onto the projecting object;
   A position detector for detecting a three-dimensional position of the projection object;
   A light projecting direction changing unit that changes the light projecting direction of the light projecting unit;
   A light projecting direction control unit that causes the light projecting direction changing unit to change the light projecting direction and projects light to the light projecting object at the position detected by the position detecting unit;
   A shape calculation unit for calculating the shape of light projected on the surface of the projection object at the position detected by the position detection unit;
   A shape control unit that causes the light projecting unit to project the light of the shape calculated by the shape calculating unit,
   Floodlight device.
2. Asynchronously with the timing at which the shape control unit causes the light projecting unit to project light, the light projecting direction control unit includes an asynchronous mode in which the light projecting direction changing unit changes the light projecting direction,
   The light projecting device according to claim 1.
3. In synchronization with the timing when the shape control unit causes the light projecting unit to project light, the light projecting direction control unit includes a synchronization mode for causing the light projecting direction changing unit to change the light projecting direction,
   When the shape control unit finishes a part of the process performed by the shape calculation unit, the light by the part process is projected to the light projecting unit, and when all the processes are finished, Projecting light from all the processes to the light projecting unit,
   The light projecting device according to claim 1.
4. A switching unit that switches between the synchronous mode and the asynchronous mode according to the moving speed of the light projecting object, further comprises:
   When the mode is switched to the synchronization mode, the light projection direction control unit sets the light projection direction to the light projection direction changing unit in synchronization with the timing at which the shape control unit projects light to the light projection unit. Change
   When the mode is switched to the asynchronous mode, the light projecting direction control unit is asynchronous with the timing at which the shape control unit projects light onto the light projecting unit, and each time the position detection unit detects the position, Causing the projection direction changing unit to change the projection direction;
   The light projecting device according to claim 3.
5. The position detection unit is mounted on its own device,
   The light projecting device according to claim 1.
6. The position detection unit is mounted on a device different from the device itself,
   The light projection device according to claim 1.
7. The projection optical system has one or a plurality of lens groups each including one or a plurality of optical lenses,
   The light projecting direction changing unit changes the light projecting direction of the light projecting unit by moving at least one lens group in a direction orthogonal to the optical axis of the light projecting optical system.
   The light projecting device according to claim 1.
8. The projection optical system has one or a plurality of mirrors,
   The light projecting direction changing unit changes the light projecting direction of the light projecting unit by rotating the mirror.
   The light projecting device according to claim 1.
9. The light projecting direction changing unit changes the light projecting direction of the light projecting unit by moving the light projecting unit in a direction orthogonal to the optical axis of the light projecting optical system.
   The light projecting device according to claim 1.
10. The light projecting unit is a lens barrel, and the light projecting direction changing unit is built in the lens barrel.
    The light projection device according to claim 1.
11. The light projecting direction changing unit is further configured to cause the light projecting unit to change a focal length of the light projecting optical system, and the light projecting unit projects the surface of the light projecting object. It has a focus function to focus the light of a predetermined shape,
    The light projecting device according to claim 1.
12. A light projecting method used in a light projecting device having a light projecting optical system that projects light and having a light projecting unit that projects light of a predetermined shape onto a light projecting object,
    A position detecting step for detecting a three-dimensional position of the projection object;
    A light projecting direction changing step of changing the light projecting direction of the light projecting unit;
    A light projecting direction control step of projecting light to the light projecting object at the position detected in the position detecting step by changing the light projecting direction in the light projecting direction changing step;
    A shape calculating step for calculating the shape of light projected on the surface of the projection object at the position detected in the position detecting step;
    A shape control step of causing the light projecting unit to project the light of the shape calculated in the shape calculating step,
    Floodlight method.

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