WO2015146805A1

WO2015146805A1 - Light projection device and light projection method

Info

Publication number: WO2015146805A1
Application number: PCT/JP2015/058337
Authority: WO
Inventors: 柴谷　一弘
Original assignee: コニカミノルタ株式会社
Priority date: 2014-03-25
Filing date: 2015-03-19
Publication date: 2015-10-01

Abstract

A light projection device (100a) is mounted on a mobile unit for varying the position of the light projection device or the direction in which light is projected, the light projection device including: a light projection unit (3) which has a light projection optical system (31) for projecting light and which projects a light beam in a predetermined shape to a light-projected object (Ob); a shake detection unit (2a) for detecting the amount of shake of the light projection device (100a); and a light projection direction varying unit (4) for varying the direction of light projection of the light projection unit (3) depending on the amount of shake detected by the shake detection unit (2a) so as to project light to the light-projected object (Ob).

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.

And to perform more effective video expression, he wants to perform projection mapping not only on so-called static objects such as buildings and furniture, but also on dynamic (moving) objects as projection objects. Requests are coming out.

Here, various techniques have been proposed to prevent the projected image from blurring due to the blurring of the projection apparatus itself. For example, there is a technique in which image blur control is performed when the projection apparatus is suspended from a ceiling (see Patent Document 1). In addition, there is a technology in which the image stabilization mode of the projection display device can be switched between a mode for performing a normal image stabilization function and a mode for performing a weaker image stabilization function according to the usage situation (Patent Document 2). reference).

However, when projection mapping is performed on a moving object, it is difficult to predict the movement of the projector itself because it is necessary to quickly project an image following the moving object. The technique of Patent Document 1 is assumed to be suspended from the projector, and the technique of Patent Document 2 is assumed to be held by the projector with one hand. The document anti-vibration technology may not be able to quickly respond to the vibration (movement) of the projector itself, and the image may be blurred.

JP 2011-154073 A JP 2012-47850 A

It is an object of the present invention to provide a light projecting apparatus and a method for projecting light (video) having a predetermined shape with less blur to a moving object.

A light projecting device according to the present invention is a light projecting device mounted on a moving unit that changes the position or the light projecting direction of its own device, and includes a light projecting optical system that projects light, and is used as a light projecting object. A light projecting unit that projects light of a predetermined shape, a vibration detection unit that detects a shake amount of the device itself, and the light projection direction of the light projecting unit is changed according to the shake amount detected by the vibration detection unit. And a light projecting direction changing unit that projects light onto the light projecting object. Therefore, even when the device itself vibrates, it is possible to project light with less blur on the projecting object to be moved.

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 for demonstrating the usage condition (mounted in an articulated robot) of the light projection apparatus of embodiment of this invention. It is a figure for demonstrating the usage condition (mounted in a mobile robot) of the light projector of embodiment of this invention. It is a figure for demonstrating the usage condition (mounted in a pan-tilt pan head) of the light projector of embodiment of this invention. It is an external view of the light projection apparatus of embodiment of this invention. It is a figure for demonstrating the shift of the light projection part of the light projection apparatus of embodiment of this invention. It is a figure which shows the example (shift of a lens group) of the light projection part of the light projection apparatus of embodiment of this invention. It is a figure which shows the example (mirror rotation) of the light projection part of the light projector of embodiment of this invention. It is a figure which shows the example of the functional block of the light projector of Embodiment 1 of this invention. It is a flowchart of the shake correction process of the light projector shown in FIG. It is a figure which shows the example of the functional block of the light projector of Embodiment 2 of this invention. It is a flowchart of the shake correction process of the light projector shown in FIG. It is a figure which shows the example of the light projection part of Embodiment 3. It is a figure which shows the example of the functional block of the light projector of Embodiment 3 of this invention. It is a flowchart of the shake correction process 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.

FIGS. 1 to 4 are diagrams for explaining a usage mode of the light projecting device 100 according to the embodiment. 5 to 7 are diagrams for explaining an example of the light projecting unit 3 of the light projecting device 100. FIG. FIG. 8 is a diagram illustrating an example of functional blocks of the light projecting device 100a according to the embodiment.

Before describing the functional blocks of the light projecting device 100, the usage mode of the light projecting device 100 will be described with reference to FIGS. The light projecting device 100 includes a shake detection sensor 2 to be described later. FIGS. 1 to 3 show a case where the shake detection sensor 2 is attached to the outside of the light projection device 100.

FIG. 1 is a diagram illustrating an example in which the light projecting device 100 is mounted on an articulated robot (moving device). An articulated robot 200 shown in FIG. 1 is a vertical articulated robot, and is connected to a support base 201, an arm part 202 connected to the support base 201 so as to be capable of turning and bending, and connected to the arm part 202 so as to be able to swing. And the mounting portion 203. The light projecting device 100 and the shake detection sensor 2 are fixed to the mounting unit 203. A servo motor (not shown) for driving the joint is built in the arm unit 202 of the multi-joint robot 200, and the drive of the servo motor is controlled by a controller (not shown).

When the controller is operated by the user and the arm unit 202 of the articulated robot bends, extends, and turns, the position and the light projecting direction of the light projecting device 100 that is mounted are changed, and the mobile object that is the light projecting object is changed. It is possible to perform light projection.

FIG. 2 is a diagram illustrating an example in which the light projecting device 100 is mounted on a mobile robot (mobile device). FIG. 2A is a side view, and FIG. 2B is a top view. A mobile robot 300 shown in FIG. 2 includes a vehicle body 301, two moving wheels 302 installed on the ground side of the vehicle body 301, and four auxiliary wheels 303 installed on the ground side of the vehicle body 301. The vehicle body 301 has a built-in rotation mechanism for driving the moving wheels 302, and the drive of the rotation mechanism is controlled by a controller (not shown). The light projecting device 100 and the shake detection sensor 2 are fixed to the upper surface of the vehicle body 301.

When the controller is operated by the user, the wheel 302 of the mobile robot rotates to move the vehicle body 301, and the position and direction of the light projector 100 mounted is changed.

FIG. 3 is a diagram showing an example in which the light projecting device 100 is mounted on a pan / tilt head (moving device). A pan / tilt head 400 shown in FIG. 3 includes a pan driving unit 401 and a tilt driving unit 402. The pan driving unit 401 rotates in the pan direction (see an arrow) about the pan rotation axis AX401. The tilt driving unit 402 rotates in the tilt direction (see an arrow) about the tilt rotation axis AX402 orthogonal to the pan rotation axis AX401. The light projecting device 100 is fixed to the tilt driving unit 402 so that the optical axis thereof is orthogonal to the tilt rotation axis AX 402, and the shake detection sensor 2 is fixed to the upper part of the light projecting device 100. Each of the pan driving unit 401 and the tilt driving unit 402 has a built-in rotation mechanism, and the driving of these rotation mechanisms is controlled by a controller (not shown).

When the controller is operated by the user, the pan driving unit 401 and the tilt driving unit 402 are rotated, and the position and the light projecting direction of the mounted light projecting device 100 are changed.

In FIGS. 1 to 3, the user operates the controller. However, the light projecting device 100 includes a device that detects the position of the light projecting object, and projects light at the detected position without the user. The controller may be automatically controlled so that the light projecting direction of the apparatus 100 is directed.

As shown in FIGS. 1 and 2, when the light projecting device 100 is mounted on the articulated robot 200 or the mobile robot 300, the light projecting device 100 is driven by driving the articulated robot 200 and the mobile robot 300. Can follow the moving projection object and continue to project the image. In addition, the light projecting device 100 can follow even if the range that can be projected, that is, the range in which the light projecting object moves increases.

However, when the projection object moves at a high speed, it is possible to project an image on the projection object by operating the articulated robot 200 and the mobile robot 300 at a high speed. When the moving speed of 100 changes, that is, when acceleration occurs, the light projecting device 100 may vibrate.

As shown in FIG. 3, when the light projecting device 100 is mounted on the pan / tilt head 400, the light projecting device 100 is rotated in the direction of light projection by rotating the pan driving unit 401 and the tilt driving unit 402. It is possible to continue projecting images by following the moving projection object, and can follow even if the range that can be projected, that is, the range in which the projection object moves is expanded. It becomes possible.

However, when the light projecting object moves at high speed, acceleration occurs when the direction of the light projecting device 100 changes, as in the case of the articulated robot 200 and the mobile robot 300. Vibration may occur.

If vibration occurs in the light projecting device 100, the image will be shaken, which may cause deterioration in projection quality. Therefore, the light projecting device 100 according to the embodiment corrects shake due to movement and posture change (change in orientation) of the light projecting device 100 by optical correction processing or image processing.

Next, FIG. 4 is an external view of the light projecting device 100 and shows an example in which the shake detection sensor 2 is attached inside. The light projecting device 100 includes a light projecting main body 1 and a light projecting unit 3, and a shake detection sensor 2 inside the light projecting main body. 1 to 3 may also include the shake detection sensor 2. In the embodiment, as shown in the coordinate system of FIG. 4, rotation about the X axis that coincides with the optical axis of the light projecting device 100 is rotation (rolling) and rotation about the Y axis is the rotation axis. The pitch (pitching) and the rotation with the Z axis as the rotation axis are referred to as yaw (yawing), respectively.

FIG. 8 is a diagram illustrating an example of functional blocks of the light projecting device 100a.

The light projecting device 100a includes a light projecting main body 1a, a shake detection sensor 2a, a light projecting unit 3, and an optical correcting unit 4. For example, the light projecting device 100a is a device that acquires a video from an external video content storage unit (not shown) and projects a video based on the acquired video to the projection target Ob.

The shake detection sensor 2a detects a shake (change in posture) of the light projecting device 100a. In the embodiment, the shake detection sensor 2a includes a gyro sensor, detects the angular velocity of pitching and the angular velocity of yawing at a predetermined cycle, and outputs the detected angular velocity to the floodlight main body 1a. The shake detection sensor 2 a includes a pitch shake detection unit 21 that detects a pitching angular velocity and a yaw shake detection unit 22 that detects a yawing angular velocity.

The light projecting main unit 1a performs overall control of the light projecting device 100a, and includes a shake detection unit 11, a shake amount calculation unit 12a, and a video display unit 13a.

The shake detection unit 11 inputs an angular velocity, that is, a pitching angular velocity and a yawing angular velocity from the shake detection sensor 2a in a predetermined cycle, and outputs the input angular velocity to the shake amount calculation unit 12a.

The shake amount calculation unit 12a performs necessary processing such as integration calculation processing from the angular velocity input from the shake detection unit 11, and calculates pitching and yawing angles (change amount, shake amount). When the shake amount is equal to or greater than a predetermined threshold value, the shake amount calculation unit 12a determines that the shake has occurred and outputs the shake amount to the optical correction unit 4.

The video display unit 13 a outputs the video to the light projecting unit 3. The video output to the light projecting unit 3 is read out from a portable recording medium such as a USB (Universal Serial Bus) memory via a connection unit (not shown) according to the recording medium. The video display unit 13 a includes, for example, 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 light projecting unit 3 has a light projecting optical system 31 and projects an image input from the image display unit 13a of the light projecting main body unit 1a 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 optical correction unit 4 changes (corrects) the light projecting direction of the light projecting unit 3 according to the shake amount input from the shake amount calculating unit 12a of the light projecting main body unit 1a. The optical correction unit 4 includes a pitch correction unit 41 and a yaw correction unit 42, and each of the pitch correction unit 41 and the yaw correction unit 42 cancels the shake according to the shake amount input from the shake amount calculation unit 12a. The projection direction is changed by shifting the image stabilizing lens group in a direction orthogonal to the optical axis (performs image stabilization). For example, the pitch correction unit 41 and the yaw correction unit 42 that have input the shake amount from the shake amount calculation unit 12a obtain an instruction value (target value) for correcting the axis where the shake has occurred, and the deviation between the instruction value and the current value. From this, a drive signal optimal for the actuator is generated and output to the actuator of each axis. That is, the pitch correction unit 41 and the yaw correction unit 42 are drive control units of the respective actuators, and the drive device itself such as an actuator is built in the light projecting unit 3.

In the embodiment, the light projection direction is optically changed by the following three methods.

First, as shown in FIG. 5, 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 arrow (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 unit 3a itself is shifted by a driving device such as an actuator using a piezoelectric element or an actuator using a voice coil. 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. 6, the lens group (projection optical system 31) in the lens barrel (projection unit 3) is orthogonal to the optical axis of the projection optical system 31 and to each other. The light projection direction is changed by shifting in two orthogonal directions (horizontal direction or vertical direction). The lens barrel 3b in FIG. 6A 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. In the lens barrel 3c of FIG. 6B, among the three lens groups, the lens groups GP1 and G3 are each composed of one optical lens, the lens group GP2 ′ is composed of a plurality of optical lenses, and the lens group GP2 ′ is for each lens group. Shifted. The lens group is shifted by a driving device such as an actuator using a piezoelectric element or an actuator using a voice coil. 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. 7, the light projection direction is changed by rotating the mirror (light projection optical system 31) in the lens barrel (light projection unit 3). FIG. 7A 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. 7B 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 mirror is rotated by a driving device such as an actuator using a piezoelectric element or an actuator using a voice coil.

5 and 6 are disclosed in, for example, Japanese Patent Application Laid-Open Nos. 2007-150996 and 2010-136269.

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

<Operation>
The shake correction process performed by the light projecting device 100a according to the embodiment will be described. FIG. 9 is a flowchart of shake correction processing.

The user inputs a command for instructing the start of the light projection process via an interface unit (not shown).

The light projecting main unit 1a that has detected that a command for instructing the start of the light projection process is input via the interface unit instructs the video display unit 13a to start projecting a video. Receiving the instruction, the video display unit 13a starts outputting the video to the light projecting unit 3.

Further, the light projecting main body 1a instructs the shake detection sensor 2a to start detecting vibrations. The shake detection sensor 2a that has received the instruction outputs the angular velocities detected periodically by the pitch shake detection unit 21 and the yaw shake detection unit 22 to the shake detection unit 11 (step S11).

The shake detection unit 11 that has acquired the angular velocity outputs the acquired angular velocity, that is, the pitching angular velocity and the yawing angular velocity to the shake amount calculation unit 12a.

The shake amount calculation unit 12a calculates a pitching angle (change amount, shake amount) from the angular velocity input from the shake detection unit 11, and when the shake amount is equal to or greater than a predetermined threshold value, the pitching is calculated. It is determined that a direction shake has occurred (step S12: Yes). The shake amount calculation unit 12a that has determined that the shake has occurred outputs the calculated shake amount to the pitch correction unit 41 via the optical correction unit 4, and the pitch correction unit 41 generates an actuator drive signal from the input shake amount. Generate (step S13).

Next, the shake amount calculation unit 12a calculates the yawing angle (change amount, shake amount) from the angular velocity input from the shake detection unit 11, and the shake amount is equal to or greater than a predetermined threshold value. Determines that a shake in the yawing direction has occurred (step S14: Yes). The shake amount calculation unit 12a that has determined that the shake has occurred outputs the calculated shake amount to the yaw correction unit 42 via the optical correction unit 4, and the yaw correction unit 42 receives the drive signal of the actuator from the input shake amount. Generate (step S15).

Then, the pitch correction unit 41 and the yaw correction unit 42 of the optical correction unit 4 output the generated drive signal to each actuator. Each actuator receives a drive signal and drives according to the input signal (step S16). If the pitching shake amount is below the threshold value (step S12: No) and the yawing shake amount is below the threshold value (step S14: No), the actuator is not driven.

As described above, since the image stabilization is performed by changing the light projecting direction of the light projecting device 100 by shifting the lens group (FIGS. 5 and 6) or rotating the mirror (FIG. 7), it is assumed that the device vibrates at a high frequency. In addition, the light projecting device 100a can project a blur-free image onto the light projecting object Ob that moves at high speed. That is, the light projecting device 100a can prevent vibrations such as camera shake as well as high-frequency vibrations.

Further, the light projecting device 100a includes a moving device (moving unit), a light projecting main body unit 1, a light projecting unit 3, and an optical correcting unit 4 (light projecting direction changing unit) even if the projection object Ob is a moving object. ) Can be projected onto the projection object Ob.

In the flowchart shown in FIG. 9 of the first embodiment, for convenience of explanation, the drive signal for the actuator for pitching is generated and then the drive signal for the actuator for yawing is generated. Each functional unit may be provided and processed in parallel. The same applies to Embodiments 2 and 3 described later.

<Embodiment 2>
In the first embodiment, shakes in pitching and yawing are detected, and the light projecting direction of the light projecting device 100a is optically corrected to eliminate image blurring. The second embodiment 100b corrects rolling shake as well as pitching and yawing shake.

FIG. 10 is a diagram illustrating an example of a functional configuration of the light projecting device 100b. The light projecting device 100b differs from the light projecting device 100a shown in FIG. 8 in the following three points. The first point is that the shake detection sensor 2 b includes a roll shake detection unit 23 that detects the angular velocity of rolling in addition to the pitch shake detection unit 21 and the yaw shake detection unit 22. The second point is that the shake amount calculation unit 12b calculates the rolling shake amount in addition to the pitching shake amount and the yawing shake amount, and outputs the calculated shake amount to the video display unit 13b. The third point is that the video display unit 13b includes a roll correction image generation unit 131 for correcting an image according to the shake amount input from the shake amount calculation unit 12b. The roll correction image generation unit 131 generates an image that is rotated from the original image in a direction that cancels the shake, with the optical axis of the light projecting device 100 as the rotation axis, according to the amount of shake in the roll direction.

<Operation>
The shake correction process performed by the light projecting device 100b will be described with reference to FIG. FIG. 11 is a flowchart of shake correction processing according to the second embodiment. The process of the same step number as the flowchart of FIG. 8 shows the same process as FIG.

The light projecting main body 1b, which has detected that a command for instructing the start of the light projection process is input by the user via the interface unit (not shown), instructs the video display unit 13b to start video projection. Upon receiving the instruction, the video display unit 13b starts outputting the video to the light projecting unit 3.

Also, the light projecting main body 1b instructs the shake detection sensor 2b to start detection. Upon receiving the instruction, the shake detection sensor 2b outputs the angular velocities detected periodically by the pitch shake detection unit 21, the yaw shake detection unit 22, and the roll shake detection unit 23 to the shake detection unit 11 (step). S21).

The shake detection unit 11 that has acquired the angular velocity outputs the acquired angular velocity, that is, the pitching angular velocity, the yawing angular velocity, and the rolling angular velocity to the shake amount calculation unit 12b.

The shake amount calculation unit 12b calculates a pitching angle (change amount, shake amount) from the angular velocity input from the shake detection unit 11, and when the shake amount is equal to or greater than a predetermined threshold value, the pitching is calculated. It is determined that a direction shake has occurred (step S12: Yes). The shake amount calculation unit 12 that has determined that the shake has occurred outputs the calculated shake amount to the pitch correction unit 41 via the optical correction unit 4, and the pitch correction unit 41 generates an actuator drive signal from the input shake amount. Generate (step S13).

Next, the shake amount calculation unit 12b calculates the yawing angle (change amount, shake amount) from the angular velocity input from the shake detection unit 11, and the shake amount is equal to or greater than a predetermined threshold value. Determines that a shake in the yawing direction has occurred (step S14: Yes). The shake amount calculation unit 12 that has determined that the shake has occurred outputs the calculated shake amount to the yaw correction unit 42 via the optical correction unit 4, and the yaw correction unit 42 receives an actuator drive signal from the input shake amount. Generate (step S15).

Next, the shake amount calculation unit 12b calculates a rolling angle (change amount, shake amount) from the angular velocity input from the shake detection unit 11, and the shake amount is equal to or greater than a predetermined threshold value. Determines that a shake in the rolling direction has occurred (step S22: Yes). The shake amount calculation unit 12 that has determined that the shake has occurred outputs the calculated shake amount to the video display unit 13b. The video display unit 13b that has input the shake amount from the shake amount calculation unit 12b passes the shake amount to the roll correction image generation unit 131 to create an image corresponding to the shake amount, that is, the created image, that is, rolling correction is performed. The formed image is output to the light projecting unit 3 (step S23).

The pitch correction unit 41 and the yaw correction unit 42 of the optical correction unit 4 output the generated drive signal to each actuator. If the shake amount is equal to or less than the predetermined threshold, the pitch correction unit 41 and the yaw correction unit 42 output a signal with a correction value of zero. Each actuator receives a drive signal and drives according to the input signal (step S16).

As described above, the shake in pitching and yawing is corrected by an optical system shift type or the like, and the shake in rolling is corrected by image processing, so that even if the own apparatus vibrates, the light projector 100b. Makes it possible to project a blur-free image on the projection object Ob moving at high speed.

<Embodiment 3>
In the first and second embodiments, the light projecting device 100 is provided with a function of changing the light projecting direction of the lens barrel (light projecting unit) 3 to thereby prevent the pitching and yawing from being shaken. In the third embodiment, a lens barrel (light projecting unit) 3 included in the light projecting device 100 is provided with functions required for pitching and yawing shake correction functions.

Specifically, the light projecting main body 1 of the light projecting

devices

100 a and 100 b includes the shake detection unit 11, the shake amount calculation unit 12, the shake detection sensor 2, and the optical correction unit 4. The light projecting device 100c of the second embodiment is configured.

In this way, by storing the function necessary for changing the light projecting direction in the lens barrel, when the light projecting device is an interchangeable lens type, the device itself vibrates and vibration isolation is necessary. However, if the lens barrel is replaced with a shake correction function, a blur-free image can be projected. That is, the range of options for the user's use of the device is expanded. Since it is not necessary for the light projecting main body unit 1 to include a processing unit necessary for shake correction, the light projecting main body unit 1 can be reduced in size and cost.

FIG. 12 shows an example of a light projecting unit (lens barrel) 3e with a built-in shake correction function. On the substrate 32, a shake detection sensor 2 and a chip 321 in which a predetermined functional unit is housed are mounted, and are connected to the light projecting main unit 1 by a communication line Nw.

In the light projecting device 100c according to the third embodiment, as in the first and second embodiments, the lens group of the light projecting optical system 31 is shifted or the mirror is rotated so that the pitching and yawing are shaken. Be changed. Further, the shake due to rolling is such that the shake amount is sent to the light projecting body 1c via the communication line Nw, and an image in which the rolling shake is corrected by the video display unit 13b is output to the light projecting unit 3e. is there.

FIG. 13 shows an example of a functional configuration of the light projecting device 100c according to the third embodiment. The light projecting device 100c differs from the light projecting device 100b shown in FIG. 10 in the following three points. The first point is that the shake detection sensor 2b is provided in the light projecting section 3e, not in the light projecting main body section 1b. The second point is that the shake detection unit 11 and the shake amount calculation unit 12b are provided in the light projecting unit 3e, not the light projecting main body unit 1c. The third point is that the light projecting main body 1c and the light projecting unit 3e communicate via the communication line Nw. The communication line Nw may be wired or wireless. The light projecting unit 3e and the light projecting main body unit 1c include a communication unit 24 and a communication unit 14 in order to communicate with each other. Note that power is supplied to the shake detection sensor 2 and the chip 321 on the substrate 32 from the light projecting main body 1 via the power supply line.

<Operation>
The shake correction process performed by the light projecting device 100c will be described with reference to FIG. FIG. 14 is a flowchart of shake correction processing according to the third embodiment. The left side is a flowchart of shake correction processing of the light projecting unit 3e, and the right side is a flowchart of shake correction processing of the light projecting main body 1c. In addition, the process of the same step number as the flowchart of FIG. 11 shows the same process as FIG.

The light projecting main body unit 1c, which has detected that a command for instructing the start of the light projection process is input by the user via the interface unit (not shown), instructs the video display unit 13b to start video projection. Receiving the instruction, the video display unit 13b acquires the video and starts output to the light projecting unit 3e (Step S41, Step S42: No, Step S44).

Also, the light projecting main body 1c notifies the light projecting unit 3e of the start of shake correction processing via the communication unit 14. Upon receiving the notification, the communication unit 24 of the light projecting unit 3e instructs the shake detection sensor 2b to start detection. Upon receiving the instruction, the shake detection sensor 2b outputs the angular velocities detected periodically by the pitch shake detection unit 21, the yaw shake detection unit 22, and the roll shake detection unit 23 to the shake detection unit 11 (step). S21).

The shake amount calculation unit 12b calculates a pitching angle (change amount, shake amount) from the angular velocity input from the shake detection unit 11, and when the shake amount is equal to or greater than a predetermined threshold value, the pitching is calculated. It is determined that a direction shake has occurred (step S12: Yes). The shake amount calculation unit 12b that has determined that the shake has occurred outputs the calculated shake amount to the pitch correction unit 41 via the optical correction unit 4, and the pitch correction unit 41 generates an actuator drive signal from the input shake amount. Generate (step S13).

Next, the shake amount calculation unit 12b calculates the yawing angle (change amount, shake amount) from the angular velocity input from the shake detection unit 11, and the shake amount is equal to or greater than a predetermined threshold value. Determines that a shake in the yawing direction has occurred (step S14: Yes). The shake amount calculation unit 12b that has determined that the shake has occurred outputs the calculated shake amount to the yaw correction unit 42 via the optical correction unit 4, and the yaw correction unit 42 obtains an actuator drive signal from the input shake amount. Generate (step S15).

Next, the shake amount calculation unit 12b calculates a rolling angle (change amount, shake amount) from the angular velocity input from the shake detection unit 11, and the shake amount is equal to or greater than a predetermined threshold value. Determines that a shake in the rolling direction has occurred (step S22: Yes). The shake amount calculation unit 12b that has determined that the shake has occurred transmits the calculated shake amount to the light projecting main body unit 1c via the communication unit 24 (step S31).

The pitch correction unit 41 and the yaw correction unit 42 of the optical correction unit 4 output the generated drive signal to each actuator. Each actuator receives a drive signal and drives according to the input signal (step S16).

The video display unit 13b of the light projecting main body unit 1c that has input the shake amount via the communication unit 14 (Step S42: Yes) passes the shake amount to the roll correction image generation unit 131 to create an image corresponding to the shake amount. Then, the created image, that is, the image subjected to the rolling correction is output to the light projecting unit 3 (step S44).

In this way, shakes in pitching and yawing are corrected by an optical system shift type or the like, and shakes in rolling are corrected by image processing. It is possible to project a blur-free image on the light projecting object Ob moving at high speed only by replacing the cylinder 3e.

In the embodiment, the light projecting device 100c corrects only the shake amount in rolling by image processing. However, the actuator (drive device) for pitch correction or yaw correction has some reason such as failure. When it becomes impossible to use, the correction that should have been performed by the drive device that can no longer be used may be switched to be performed by image processing. In this case, for example, when the light projecting main body unit 1 detects a failure or the like of the drive device, the shake amount calculation unit 12b calculates the correction shake amount that cannot be performed due to the failure or the like, and the calculated shake amount Is output to the video display unit 13b. The video display unit 13 b creates an image that has been corrected so as to cancel out the shake amount input from the shake amount calculation unit 12 b and outputs the image to the light projecting unit 3. Note that the light projecting device 100c may be provided with an interface unit that allows the user to give an instruction to perform pitching shake or yawing shake by image processing.

In the embodiment, the shake detection sensor 2 includes a gyro sensor. However, the shake detection sensor 2 includes a three-axis acceleration sensor, and is detected as an axial component of each of the three axes (x, y, z) of the coordinate system in the acceleration sensor. An amount of change (amount of shake) in the direction of the light projecting device 100 may be obtained from the acceleration of each axis.

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 of the present invention is a light projecting device mounted on a moving unit that changes a position or a light projecting direction of the device, and includes a light projecting optical system that projects light, A light projecting unit that projects light of a predetermined shape onto an object, a vibration detection unit that detects a shake amount of the device itself, and the light projection of the light projecting unit according to the shake amount detected by the vibration detection unit A light projecting direction changing unit that changes the direction and projects light onto the light projecting object.

A light projecting method according to another aspect includes a light projecting optical system that is mounted on a moving unit that changes the position or the light projecting direction of its own device, and projects light of a predetermined shape onto a light projecting object. A light projecting method used in a light projecting device having a light projecting unit for projecting, wherein a vibration detecting step for detecting a shake amount of the own device, and the light projecting amount according to the shake amount detected in the vibration detecting step. A projecting direction changing step of changing the projecting direction of the light unit to project light onto the projecting object.

According to this configuration, the light projecting device changes the light projecting direction of the light projecting unit according to the shake amount of the device itself, and projects the light onto the projecting object. Even in this case, it is possible to project light without blurring onto the projecting object to be moved.

In the above-described light projecting device, the shape calculation unit that calculates the shape of the light projected on the surface of the projection object and the shape calculation unit that calculates the shape obtained by correcting the shake amount detected by the vibration detection unit are calculated. A light projecting control unit that causes the light projecting unit to project light having the shape calculated by the shape calculating unit.

According to this configuration, the light projecting device can project light (video) having a shape corrected by image processing onto a moving light projecting object in accordance with the shake of the device itself.

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

According to this configuration, the light projecting device can easily change the light (video) having no blur to the moving light projecting object by replacing the lens barrel when shake correction of the device itself is necessary. It is possible to project light.

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, and project light having no blur (image) onto a moving light projecting object. Is possible.

In the above projector, the moving unit is any of an articulated robot, a mobile robot, and a pan / tilt head.

According to this configuration, the light projecting device can continue to project an image following the moving light projecting object, and the range that can be projected, that is, the range in which the light projecting object moves is expanded. Even if it follows, it becomes possible to follow.

In the above-described light projecting device, the vibration detection unit detects the respective tilts of the pitch direction, yaw direction, and roll direction of the own device as respective shake amounts, and the light projecting direction changing unit detects the pitch direction. According to the shake amount or the shake amount in the yaw direction, the light projecting direction of the light projecting unit is changed, and the light projecting control unit corrects the shake amount in the roll direction to the shape calculating unit. And the light having the shape calculated by the shape calculation unit is projected onto the light projecting unit.

According to this configuration, the light projecting device can easily correct the shake in the pitch direction and the yaw direction of its own device by changing the light projecting direction, and correct the shake in the roll direction by image processing. Therefore, it becomes possible to project light (video) having a non-blurred shape onto a moving projection object.

In the above-described light projecting device, the vibration detection unit detects the respective tilts of the pitch direction, yaw direction, and roll direction of the own device as respective shake amounts, and the light projecting direction changing unit detects the pitch direction. The light projection direction of the light projecting unit is changed according to one of the shake amount and the shake amount of the yaw direction, and the light projection control unit And, the shape calculation unit calculates the shape in which the projection direction change unit has corrected the shake amount in the direction not used for the change of the projection direction, and the shape calculation unit calculates the light of the shape, Light is projected to the light projecting unit.

According to this configuration, when the light projecting device cannot correct the shake in the pitch direction or the yaw direction of its own device by changing the light projecting direction, the light projecting device corrects the shake in the direction that cannot be corrected by image processing. Therefore, it is possible to project light (video) having a shape without blurring onto a moving projection object.

In the above-described light projecting device, the light projecting object is a moving body.

According to this configuration, it is possible for the light projecting device to continue projecting an image following the light projecting object even when the light projecting object is a moving object.

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. 2014-061701 filed on Mar. 25, 2014, the contents of which are included in this 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

A light projection device mounted on a moving unit that changes the position or light projection direction of the device itself,
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 vibration detection unit for detecting the shake amount of the own device;
A light projecting device comprising: a light projecting direction changing unit that changes the light projecting direction of the light projecting unit according to a shake amount detected by the vibration detecting unit, and projects light onto the light projecting object.
A shape calculating unit for calculating the shape of light projected on the surface of the light projecting object;
A projection control unit that causes the shape calculation unit to calculate a shape obtained by correcting the shake amount detected by the vibration detection unit, and causes the light projection unit to project light having the shape calculated by the shape calculation unit; Prepare
The light projecting device according to claim 1.
The light projecting unit is a lens barrel, and the vibration detecting unit and the light projecting direction changing unit are built in the lens barrel.
The light projection device according to claim 1.
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.
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.
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.
The moving unit is any of an articulated robot, a mobile robot, and a pan / tilt head.
The light projecting device according to claim 1.
The vibration detection unit detects respective inclinations of the pitch direction, yaw direction, and roll direction of the own device as respective shake amounts,
The light projecting direction changing unit changes the light projecting direction of the light projecting unit according to the amount of shake in the pitch direction or the amount of shake in the yaw direction,
The light projection control unit causes the shape calculation unit to calculate a shape in which the amount of shake in the roll direction is corrected, and causes the light projection unit to project light having the shape calculated by the shape calculation unit.
The light projection device according to claim 2.
The vibration detection unit detects respective inclinations of the pitch direction, yaw direction, and roll direction of the own device as respective shake amounts,
The light projecting direction changing unit changes the light projecting direction of the light projecting unit according to any one of the shake amount in the pitch direction and the shake amount in the yaw direction,
The light projection control unit causes the shape calculation unit to calculate a shake amount in the roll direction and a shape in which the light projection direction change unit corrects a shake amount in a direction not used for changing the light projection direction, Causing the light projecting unit to project the light of the shape calculated by the shape calculating unit;
The light projection device according to claim 2.
The projecting object is a moving object.
The light projecting device according to claim 1.
Light projection provided with a light projection unit that is mounted on a moving unit that changes the position or the light projection direction of the device itself and that has a light projection optical system that projects light, and projects light of a predetermined shape onto a light projection object A light projection method used in the apparatus,
A vibration detection step for detecting a shake amount of the own device;
A light projecting method comprising: a light projecting direction changing step of projecting light onto the light projecting object by changing the light projecting direction of the light projecting unit according to the shake amount detected in the vibration detecting step.