WO2020129398A1 - Observation apparatus - Google Patents

Observation apparatus Download PDF

Info

Publication number
WO2020129398A1
WO2020129398A1 PCT/JP2019/041612 JP2019041612W WO2020129398A1 WO 2020129398 A1 WO2020129398 A1 WO 2020129398A1 JP 2019041612 W JP2019041612 W JP 2019041612W WO 2020129398 A1 WO2020129398 A1 WO 2020129398A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
panoramic
lens
optical axis
image
Prior art date
Application number
PCT/JP2019/041612
Other languages
French (fr)
Japanese (ja)
Inventor
憲市 本田
Original Assignee
立山科学工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 立山科学工業株式会社 filed Critical 立山科学工業株式会社
Publication of WO2020129398A1 publication Critical patent/WO2020129398A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/18—Optical objectives specially designed for the purposes specified below with lenses having one or more non-spherical faces, e.g. for reducing geometrical aberration
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B17/00—Systems with reflecting surfaces, with or without refracting elements
    • G02B17/08—Catadioptric systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the present invention relates to an observation device that uses a wide-angle imaging lens and a light-reflecting member to simultaneously receive light from a wide field of view and perform imaging or measurement.
  • this panoramic imaging lens is formed of a light-transmissive material such as optical glass so as to be rotationally symmetrical about the optical axis that is the central axis of the lens.
  • the panoramic image pickup lens is formed in an annular shape so that light is incident at a predetermined angle of view from the entire circumference of 360°, and is formed in an annular shape so as to be adjacent to and substantially opposed to the light incident surface, and reflects light into the lens.
  • the first reflection surface and the second reflection that is provided at the center of the inside of the ring of the light incident surface and that reflects the reflected light from the first reflection surface toward the inside portion of the ring of the first reflection surface It has a face.
  • a light emitting surface that transmits light from the second reflecting surface is formed at a position facing the second reflecting surface in a center portion inside the ring that is an inner portion of the ring of the first reflecting surface.
  • the ring-shaped light incident surface is formed in a convex lens shape
  • the first reflecting surface facing the light incident surface is formed in a convex shape swelling sideways
  • the inner surface of the lens of the first reflecting surface is the second reflecting surface. It is the reflecting surface of an annular concave mirror facing the direction of.
  • the second reflecting surface located on the center side of the light incident surface is formed in a concave shape, and the inner surface of the lens serves as the reflecting surface of the convex mirror.
  • the light emitting surface is formed into a concave surface, a convex surface, or a flat surface depending on the intended use.
  • a panoramic image pickup apparatus using this panoramic image pickup lens includes a panoramic image pickup lens unit including an image forming relay lens and a lens holder provided on an optical axis of the panoramic image pickup lens, a case (not shown), and the like. It consists of a fixed camera. Then, the 360° panoramic view captured by the panoramic image pickup lens is imaged as an annular image on the image pickup device in the camera, converted into an electric signal, and can be displayed on various monitor devices by the conversion processing device in the subsequent stage. In the state, it is converted into an electric signal and output.
  • the image of the panoramic landscape is an image of a circular and polar coordinate system, it is finally coordinate-converted into an orthogonal coordinate system by an image processing device such as a computer (not shown) and displayed on the monitor device as a developed panoramic image.
  • an image processing device such as a computer (not shown) and displayed on the monitor device as a developed panoramic image.
  • Patent Document 2 As a device for observing a wide range of outside world, for example, various vehicle surroundings monitoring devices equipped with cameras for monitoring the surroundings have been proposed in order to ensure the safety of running of various vehicles.
  • the device disclosed in Patent Document 2 has a large number of cameras arranged around the vehicle, displays a camera image in the driver's viewing direction on a monitor, and eliminates blind spots around the vehicle.
  • Patent Documents 3, 4, and 5 a vehicle periphery provided with a prism or a plurality of mirrors arranged in front of a camera lens, dividing a visual field direction, and guiding images in different directions to the camera. Monitoring devices have also been proposed. As a result, the field of view taken by one camera is increased, the surroundings of the vehicle can be monitored in a wider area, and the blind spot around the vehicle is reduced.
  • the panoramic imaging device disclosed in Patent Document 1 is an optical system that has a field of view of 360°, but cannot capture images before and after the optical axis direction that is the central axis of the lens, and normally the optical axis is vertical. It is used as a device that monitors 360° in the horizontal direction at a predetermined angle of view. Therefore, it is not used in a monitoring device that monitors the side, the lower side, or the rear of the vehicle.
  • the vehicle periphery monitoring device disclosed in Patent Document 2 is not a practical vehicle monitoring device because it uses a large number of cameras and the device is complicated and costly. Further, the optical system used in the vehicle periphery monitoring device disclosed in Patent Documents 2 to 5 uses a wide-angle lens having a wide angle of view and a prism or a mirror to enable a visual field in a plurality of directions.
  • the angle of view of a wide-angle lens is relatively wide, but if it is divided and displayed, the field of view in one direction is narrow, and a single camera can effectively monitor a wide range of the vehicle. It is not a device.
  • the present invention has been made in view of the background art described above, and an object of the present invention is to provide an observation device that can receive light from a wide range of an observation target with a simple configuration.
  • the present invention is a panorama formed of a light-transmissive material, formed in rotational symmetry around the optical axis of the lens center, and having a light incident surface on which light from the surroundings orthogonal to the optical axis can enter.
  • the present invention has a light incident surface which is formed of a light-transmissive material, is formed in rotational symmetry around the optical axis of the lens center, and can receive light from the surroundings orthogonal to the optical axis.
  • a panoramic imaging lens an imaging element that captures an image formed by being incident on the panoramic imaging lens, and light incident on the panoramic imaging lens disposed between the panoramic imaging lens and the imaging element to the imaging element.
  • a panoramic image pickup device having an image pickup optical system for forming an image, arranged in one direction of a visual field around the optical axis of the panoramic image pickup device, and allowing light from the periphery of the optical axis direction of the panoramic image pickup lens
  • the observation device includes a reflection member that guides a part of the light incident surface.
  • the panoramic imaging lens is formed rotationally symmetrical about the optical axis of the lens center, and the light incident surface is formed in a convex lens shape so that light from the periphery of the optical axis can enter, and opposes the light incident surface.
  • a first reflecting surface is formed in a part of the surface of the panoramic imaging lens in an annular shape, and is bulged outward so as to reflect light into the panoramic imaging lens and formed into a concave mirror shape.
  • On the surface of the panoramic imaging lens in the center of the ring of the light incident surface there is a convex mirror-shaped second reflecting surface that reflects the reflected light from the first reflecting surface toward the inner part of the ring of the first reflecting surface.
  • a light emitting surface is provided in the center of the inside of the first reflecting surface, which faces the second reflecting surface and transmits the light from the second reflecting surface.
  • the panoramic imaging lens is formed so that light of the entire 360° of the optical axis can enter the light incident surface.
  • At least one of the direction of the optical axis of the panoramic image pickup lens and the image pickup optical system and the direction included in the range of the viewing angle of the reflecting member are provided so as to be aligned in the horizontal direction or less, and the panoramic image pickup lens is provided. Are incident on the lower and both sides orthogonal to the optical axis and in the viewing angle direction of the reflecting member.
  • a display device for displaying an image around the optical axis captured by the reflecting member and another image incident on the image sensor, and a process for processing the images. At least one of the image processing devices is provided.
  • the display device displays an image on the side in the horizontal direction of the panoramic image pickup device, an image below, and an image around the optical axis in one display screen.
  • the panoramic imaging device is arranged in front of or behind a moving body such as a vehicle so that the front or rear of the moving body can be monitored. Further, the panoramic imaging device may be arranged on the side of the moving body so that the side of the moving body and the front or the rear can be monitored. Further, the panoramic image pickup device may be arranged at at least one of the corners of the front and rear of the moving body so that the side and front and/or rear of the moving body can be monitored.
  • a plurality of the panoramic image pickup devices may be arranged and a processing device may be provided for measuring the distance to the image pickup target by the light incident on the panoramic image pickup lens.
  • the observation device of the present invention it is possible to receive light from a wide range of outside world with a simple device, and it is possible to perform highly accurate observation with a small device, for example, in monitoring or measuring the surrounding conditions. ..
  • a panoramic imaging device capable of photographing a wide range around the optical axis is used, and an unnecessary portion of the photographing range is used for receiving light from other directions by using a reflecting member.
  • the blind spot of the driver of the moving body is eliminated, which contributes to safe driving.
  • the number of panoramic image pickup devices to be installed can be minimized by devising the arrangement of the moving body at the front and rear or at the corners.
  • the panoramic imaging device of this embodiment is a schematic diagram (a) showing a photographing range in a state of being arranged behind a moving body, and a schematic diagram (b) showing a photographing range in a state of being arranged laterally of the moving body. It is a schematic diagram which shows the cyclic
  • FIG. 1 It is a schematic diagram which shows the example of a display which carries out image processing of the annular panoramic image panoramic-photographed by the mobile body periphery monitoring apparatus of this embodiment, and displays it on a display apparatus. It is a schematic diagram which shows the other example of a display of the panorama image imaged with the mobile body periphery monitoring apparatus of this embodiment.
  • the top view (a) which shows the example of the vehicle which attached the moving body periphery monitoring apparatus which is the observation apparatus of 2nd embodiment of this invention, and the imaging range in the state which arrange
  • the directions of the optical system and the space are the horizontal directions in the X-axis direction, and in this embodiment, they coincide with the optical axis x direction.
  • the horizontal direction orthogonal to the X axis is the Y axis direction
  • the vertical direction orthogonal to the X axis and the Y axis is the Z axis direction.
  • the panoramic imaging lens 12 is a ring-shaped light into which the incident light L from the side is incident within the range of the angle of view ⁇ on the surface on the optical axis x from the entire circumference of 360° so that the visual field of 360° can be imaged at one time. It has an entrance surface 14.
  • the angle of view ⁇ is set in the range of 40° to 80°, for example, in the range of ⁇ 15° to 65° with respect to the direction orthogonal to the optical axis x of the panoramic imaging lens 12.
  • the ring-shaped light incident surface 14 is formed in a convex lens shape with a bulged surface.
  • the panoramic imaging lens 12 has an annular first reflecting surface 16 that reflects the incident light L incident from the light incident surface 14 into the panoramic imaging lens 12 at a predetermined distance from the light incident surface 14.
  • a second reflection surface 18 that reflects the reflected light R from the first reflection surface 16 toward the inside of the ring of the first reflection surface 16 is panoramic imaged. It is provided in the center of the ring of the light incident surface 14 with the optical axis x of the lens 12 as the center.
  • the first reflecting surface 16 is formed in a ring shape on the surface of the panoramic imaging lens 12 at a position facing the light incident surface 14, and the surface of the panoramic imaging lens 12 is formed as a convex surface that bulges outward.
  • the inner surface side of the panoramic imaging lens 12 of the first reflection surface 16 is a reflection surface of an annular concave mirror facing the direction of the second reflection surface 18.
  • the second reflecting surface 18 is formed as a concave surface, and the inner surface side of the panoramic imaging lens 12 is formed as a reflecting surface of a convex mirror.
  • the first reflecting surface 16 and the second reflecting surface 18 are mirror surfaces formed by forming a metal thin film on the surface of the panoramic imaging lens 12 by aluminum vapor deposition or the like.
  • a light emitting surface 20 that transmits light from the second reflecting surface 18 is formed at a position facing the second reflecting surface 18 in the center of the ring-shaped first reflecting surface 16 inside the ring.
  • the light emitting surface 20 is formed into a concave surface, a convex surface, or a flat surface according to the external optical system.
  • the surface shapes of the light incident surface 14, the first reflecting surface 16, and the second reflecting surface 18 are spherical surfaces so that a 360° panoramic image incident from the light incident surface 14 can be obtained via the light emitting surface 20. It is formed into an aspherical lens shape set by a predetermined calculation formula.
  • the panoramic image pickup lens 12 includes an image forming relay lens 22 which is an optical system for image pickup, which is located on the optical axis x and faces the light exit surface 20, and is held by a lens holder (not shown). Further, it is provided in a housing (not shown).
  • the panoramic image pickup lens 10, the relay lens 22, and the image pickup device 24 constitute a panoramic image pickup device 10.
  • the image formed on the image sensor 24 is captured as a circular panoramic image 36 in a concentric polar coordinate system, so that the panoramic image 36 is image-processed by an image processing device (not shown), It is converted into an image in a rectangular coordinate system and is displayed as a monitor image 34 on the display device 35 as shown in FIG. 6, for example.
  • the mobile body surroundings monitoring device 26 of this embodiment makes incident light L from the front side of the panoramic imaging lens 12 in the optical axis x direction in one direction of the visual field of the panoramic imaging device 10.
  • the panorama imaging lens 12 is provided with a reflecting mirror 28 that is a reflecting member that guides a predetermined partial range of the light incident surface 14, for example, a range of about 90° out of the 360° range to the light incident surface 14.
  • the direction of the reflecting mirror 28 is set at a predetermined angle ⁇ , for example, with respect to the optical axis x direction so that light in a direction close to the optical axis x direction of the panoramic imaging lens 12 is incident on the light incident surface 14 of the panoramic image pickup lens 12.
  • ⁇ 20° to 50°.
  • At least one of the optical axis x direction of the panoramic imaging lens 12 and the relay lens 22 and the direction included in the range of the viewing angle ⁇ of the reflecting mirror 28 on the XZ plane including the Z axis direction which is the vertical direction. are provided so as to coincide with the horizontal X-axis direction.
  • the panoramic imaging lens 12 has a viewing angle ⁇ in the downward direction orthogonal to the optical axis x of the panoramic imaging lens 12, on both sides in the Y-axis direction in the horizontal direction, and in the vertical direction of the reflecting mirror 28. Further, as shown in FIGS. 2 to 4 which will be described later, light from a subject in a direction that falls within the range of the horizontal viewing angle ⁇ of the reflecting mirror 28 is incident.
  • the viewing angle ⁇ of the reflecting mirror 28 and the viewing angle ⁇ of the reflecting mirror 28 in the plane orthogonal to the plane including the viewing angle ⁇ and parallel to the optical axis x are the size and the curvature of the reflecting mirror 28. Is set as appropriate.
  • the reflecting mirror 28 makes the light in the range intersecting the optical axis x direction of the panoramic imaging lens 12 at an acute angle of approximately 45° or less enter the panoramic imaging lens 12. It is installed to let you.
  • the type of the vehicle 30, which is a moving body, does not matter, and although the drawings show one-box type passenger cars, large buses, trucks, excavators, bulldozers, crane trucks, other civil engineering machines, industrial vehicles, etc. It may be a forklift truck, a tractor or the like, and can be used by being attached to an appropriate moving body such as various manned or unmanned carts.
  • the moving object surroundings monitoring device 26 of this embodiment has the panoramic imaging device 10 attached to the rear portion 30a of the vehicle 30 where the blind spot of the driver occurs, and the image processing device and the display device 35 are attached to appropriate positions in the vehicle (not shown). ..
  • the image processing device may be provided in an external host computer connected to the vehicle 30 via a network, and converts the circular panoramic image 36 of the polar coordinate system into an image of the orthogonal coordinate system, and also humans, animals, and various other types. It may be a process for processing information for detecting an object, or a process for positioning the own vehicle using an optical beacon or SLAM (Simultaneous Localization And Mapping) technology.
  • SLAM Simultaneous Localization And Mapping
  • the panoramic imaging device 10 may be appropriately attached to the inside or the lower portion of the side mirror 32 on the side opposite to the driver's seat of the vehicle 30 and other side surfaces.
  • the optical axis x of the panoramic imaging lens 12 is attached to each panoramic imaging device 10 in the horizontal direction.
  • the range that can be monitored by the panoramic imaging device 10 will be described with reference to FIGS. 2 to 4.
  • the panoramic imaging device 10 is attached to the rear portion 30a of the vehicle 30, as shown in FIGS. 2, 3, and 4A, the range of the vertical viewing angle ⁇ and the horizontal viewing angle ⁇ of the reflecting mirror 28.
  • the traveling direction of the vehicle 30 is Fw
  • the monitoring range ⁇ other than the part where the light from the reflecting mirror 28 enters can be 180° or more, for example, a range of about 250°.
  • the monitoring range ⁇ can be monitored by the angle of view ⁇ of the panoramic imaging device 10.
  • the panoramic imaging device 10 When the panoramic imaging device 10 is attached to the rear portion 30a of the vehicle 30, the rear portion including the optical axis x direction, the left and right directions of the rear portion 30a of the vehicle 30 in the Y-axis direction, and the left and right diagonally upwards, and the Z-axis direction of the rear portion 30a. It is possible to monitor the monitoring range ⁇ including the situation below.
  • the panoramic imaging device 10 when the panoramic imaging device 10 is attached to the side mirror 32 that is on the side of the vehicle 30, as shown in FIGS. 2, 3, and 4B, the vertical viewing angle ⁇ of the reflecting mirror 28 and In the range of the viewing angle ⁇ in the horizontal direction, the optical axis x is located on the side orthogonal to the traveling direction Fw of the vehicle 30, and for example, the viewing range of 90° vertically and horizontally can be monitored.
  • the Y-axis direction that is orthogonal to the optical axis x direction, it is the front-rear direction on the side where the side mirror 32 is provided, and the front-rear direction and the front-rear diagonally upward direction in the Y-axis direction, which is the traveling direction Fw of the vehicle, and the side-mirror 32.
  • the monitoring range ⁇ can be set to a range of 180° or more, for example, about 250°.
  • the monitoring image 34 displayed on the display device 35 is photographed by the image sensor 24 as the circular polar coordinate system panoramic image 36 shown in FIG. 5, so the photographed polar coordinate system image is processed by the image processing device. Then, as shown in FIG. 6, the image is converted into a monitor image 34 in a rectangular coordinate system to correct the distortion in the polar coordinate system and displayed on a square display screen of the display device 35.
  • the annular panoramic image 36 shown in FIG. 5 has left and right side images 36a and 36b and the rear portion 30a of the vehicle 30. Lower images 36c of the lower part of the image are continuously captured. Further, in the range of the viewing angle ⁇ and the viewing angle ⁇ of approximately 90° above the panoramic image 36, the light is reflected by the reflecting mirror 28 and is incident on the light incident surface 14 of the panoramic image pickup lens 12 in a substantially horizontal direction at a rear distance. The rear distant image 36d is captured.
  • the panoramic image 36 shown in FIG. 5 taken by the image pickup device 24 of the panoramic image pickup device 10 is converted into a monitor image 34 in the Cartesian coordinate system shown in FIG. 6 by an image processing device (not shown) and displayed on the display device 35. It In the displayed monitoring image 34, left and right side images 34a and 34b are displayed on both sides, and a lower image 34c of the rear portion 30a of the vehicle 30 is displayed separately. Further, the rear far image 36d reflected by the reflecting mirror 28 in the range of approximately 90° above the panoramic image 36 shown in FIG. 5 is displayed as the rear far image 34d shown in FIG.
  • the left and right side images 34a and 34b of the panoramic image 36 and the lower image 34c are consecutively displayed.
  • the left and right side images 38a and 38b may be displayed, and the image reflected by the reflecting mirror 28 may be displayed large as the rear far image 38c between the side images 38a and 38b.
  • this moving object surroundings monitoring device 26 it is possible to effectively acquire a wide range of images and other optical information by using the panoramic image pickup device 10 capable of shooting the 360° range.
  • an image of a necessary range is made incident on the panoramic imaging lens 12 by using the reflecting mirror 28, and a single panoramic imaging device 10 is used to make an extremely wide range around the vehicle 30.
  • the rear portion 30a of the vehicle 30 is provided, on the left and right sides of the rear portion 30a in the Y-axis direction, there are 180° or more including diagonally upper left and right sides including the horizontal direction orthogonal to the optical axis x direction and lower portions in the Z-axis direction.
  • the rear of the vehicle 30 can be monitored by the angle of view ⁇ of the panoramic imaging lens 12 in the monitoring range ⁇ . Further, it is possible to reliably monitor the range in the optical axis x direction and in the rear far side in the horizontal X-axis direction with the viewing angles ⁇ and ⁇ . Also, when the side mirror 32 is provided with the panoramic imaging device 10, similarly, the panoramic imaging is performed in the monitoring range ⁇ of 180° or more including diagonally upward in the Y-axis direction which is the front-back direction of the side mirror 32 and downward in the Z-axis direction. The front-back direction of the vehicle 30 can be monitored by the angle of view ⁇ of the lens 12. Further, it is possible to reliably monitor the range of the side mirror 32 on the lateral side in the X-axis direction, which is the optical axis x direction of the panoramic imaging device 10, with the viewing angles ⁇ and ⁇ .
  • the moving body surroundings monitoring device 26 of this embodiment is provided with two panoramic imaging devices 10 provided at the corners of the rear portion 30a of the vehicle 30.
  • the moving body surroundings monitoring device 26 of this embodiment is provided with two panoramic imaging devices 10 provided at the corners of the rear portion 30a of the vehicle 30.
  • the range reflected on the reflecting mirror 28 can be monitored behind the rear portion 30a and laterally in the front-rear horizontal direction of the vehicle 30, respectively, and the two panoramic imaging devices 10 can be used to cover the entire rear portion of the rear portion 30a of the vehicle 30.
  • the optical axis x direction of the panoramic imaging lens 12 is arranged at the corner of the rear portion 30a of the vehicle 30 so as to face the intermediate direction between the horizontal X axis and the Y axis direction, and is oblique to the XY plane.
  • the corner portion of the rear portion 30a is monitored at the angle of view ⁇ within a monitoring range ⁇ of 180° or more below the Z axis direction.
  • the optical axis x direction which is an intermediate direction between the horizontal X-axis and the Y-axis, it is possible to reliably monitor the rear side range with the viewing angles ⁇ and ⁇ .
  • the moving object surroundings monitoring device of the observation device of this embodiment at least three cameras in front, rear, left, and right are normally required, but only two moving object surroundings monitoring devices 26 are provided on both left and right sides of the vehicle 30. As a result, it is possible to reliably monitor the entire range in the rear up and down and in the rear distant, and it is possible to easily enhance the safety such as driving the vehicle.
  • the observation device 40 according to the third embodiment of the present invention will be described with reference to FIG.
  • the same configurations as those of the above-described embodiment are denoted by the same reference numerals, and description thereof will be omitted.
  • the light L that is incident from a direction within a predetermined range on the side of the light emitting surface 20 that is the rear side of the panoramic imaging lens 12 in the optical axis x direction is reflected by the light incident surface 12 via the reflecting mirror 28. Is to be incident on.
  • the light of the angle of view ⁇ including the direction orthogonal to the optical axis x direction and the optical axis x direction and the panoramic imaging lens 12 are provided.
  • the range on the rear side in the axial direction of can be observed with the viewing angles ⁇ and ⁇ .
  • the moving body surroundings monitoring device and other optical observation devices using the observation device 40 can effectively acquire a wide range of images and other optical information as in the above embodiment. In particular, when it is provided on a moving body, it is possible to reliably monitor the surroundings.
  • the observation device 42 of this embodiment scans the light incident on the light incident surface 12 of the panoramic imaging lens 12 by swinging the reflecting member 44 at a predetermined angle by a driving device (not shown). Then, the light emitted from the light emitting surface 20 side of the panoramic imaging lens 12 is imaged on the light receiving element 46 via the relay lens 22.
  • the light receiving element 46 may be a single light receiving element, an array of light receiving elements, or an image pickup element which is a two-dimensional light receiving element.
  • the panoramic imaging lens 12 can acquire optical information such as a peripheral image in a wide range, and the incident light L such as a laser beam is scanned so that the light of the panoramic imaging lens 12 can be scanned. It is possible to easily acquire the optical information based on the reflected light from the object which is incident on the incident surface 14 and scanned by the laser light. As a result, for example, it is possible to perform the distance measurement by the laser light and the acquisition of the stereoscopic image together with the acquisition of the peripheral image.
  • the observation device of the present invention is not limited to the above-described embodiment, and contrary to the example shown in FIG. 8, by providing the moving body surroundings monitoring device 26 at a front corner of the vehicle 30 to take an image, It is possible to monitor the side of 30 in the front-rear direction by 180° or more in the horizontal direction, the downward direction, and the front direction. Further, by providing the moving body surroundings monitoring device 26 on the side of the vehicle 30 and taking an image, it is possible to monitor the side of the vehicle 30 in the front-rear direction in the horizontal and downward directions of 180° or more, and in the front. In addition, the moving body surroundings monitoring device 26 may be provided on the rear side and both side surfaces of the moving body, and the surroundings of the moving body may be monitored by three panoramic image capturing devices. It is possible.
  • two mobile body surroundings monitoring devices 26 are provided, light information from the outside is received by a pair of panoramic imaging devices 10, and a stereo image of the subject is acquired by a pair of incident lights. It is also possible to capture the subject three-dimensionally and measure the distance to the image-capturing target that is the subject.
  • the optical axis x direction of the panoramic imaging lens 12 and the relay lens 22 can be set appropriately according to the application.
  • the direction of the optical axis x is set to be equal to or less than the horizontal direction, and in the light incident surface 14 of the panoramic imaging lens 12, assuming that the maximum incident angle on the second reflecting surface 18 side is the elevation angle, the direction of the elevation angle is directly above the vertical direction.
  • the direction of the optical axis x can be appropriately set within such a range.
  • the optical axis x direction is set higher than the horizontal direction, in the light incident surface 14 of the panoramic imaging lens 12, when the maximum incident angle on the first reflecting surface 14 side is the depression angle, the depression angle is directly below the vertical direction.
  • the direction of the optical axis x can be set as appropriate within a range up to the position facing.
  • the reflecting member may be an optical element using a prism in addition to the one having a mirror surface, and the mirror surface may be not only a plane mirror but also a concave mirror or a convex mirror, regardless of its type and material.
  • the arrangement position and the horizontal angle of the optical axis when installed are appropriately set, and the material and the viewing angle can also be appropriately selected.
  • panoramic imaging device 10
  • panoramic imaging lens 14
  • light incident surface 16
  • first reflecting surface 18
  • second reflecting surface 20
  • light emitting surface 22
  • relay lens 24
  • image sensor 26
  • moving body surroundings monitoring device 35
  • display device 28 42 reflecting mirror 30
  • vehicle 30a vehicle Rear part 32
  • Side mirror 34 Surveillance image
  • Panoramic image 38
  • Surveillance image 40, 42 Observing device 44
  • Reflecting member 46 Light receiving element

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Studio Devices (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Lenses (AREA)
  • Structure And Mechanism Of Cameras (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

Provided is an observation apparatus that enables, via a simple configuration, efficient observation of a wide range. The apparatus is provided with a panoramic photography lens 12 that is formed from an optically transparent material, is formed so as to have rotational symmetry around the optical axis of the lens center, and comprises a light-receiving face 14 that can be struck by lateral light from a full 360° range orthogonal to the optical axis. The apparatus is provided with a panoramic photography device 10 that comprises: a photography element 24 for capturing an incident image 36 formed on the panoramic photography lens 12; and a relay lens 22 that is disposed between the panoramic photography lens 12 and the photography element 24, and that forms, on the photography element 24, an image of light striking the panoramic photography lens 12. The apparatus is provided with a reflecting mirror 28 that is disposed in one direction in a 360° field of view of the panoramic photography device 10, and that guides light from the vicinity of the optical axis direction to a portion of the light-receiving face 14 of the panoramic photography lens 12.

Description

観測装置Observation device
　本発明は、広角の撮像レンズと光反射部材を用いて、広範囲の視野方向からの光を同時に受光し撮影又は計測等を行う観測装置に関する。 The present invention relates to an observation device that uses a wide-angle imaging lens and a light-reflecting member to simultaneously receive light from a wide field of view and perform imaging or measurement.
　従来、３６０°のパノラマ撮影可能な光学系として、特許文献１に開示されているように、レンズの周囲３６０°の視界を一度に撮影できるパノラマ撮像レンズがある。このパノラマ撮像レンズは、特許文献１にあるように、光学ガラス等の光透過性の素材により、レンズの中心軸である光軸回りに回転対称に形成されている。パノラマ撮像レンズは、３６０°全周から所定の画角で光が入射する環状の光入射面と、この光入射面と隣接し略対向するようにして環状に形成され、レンズ内へ光を反射する第一反射面と、光入射面の環の内側部分である環内中央部に設けられ第一反射面からの反射光を第一反射面の環の内側部分に向けて反射する第二反射面を備えている。第一反射面の環の内側部分である環内中央部には、第二反射面と対向する位置に、第二反射面からの光を透過する光出射面が形成されている。 Conventionally, as an optical system capable of 360° panoramic shooting, as disclosed in Patent Document 1, there is a panoramic imaging lens capable of shooting 360° around the lens at once. As described in Patent Document 1, this panoramic imaging lens is formed of a light-transmissive material such as optical glass so as to be rotationally symmetrical about the optical axis that is the central axis of the lens. The panoramic image pickup lens is formed in an annular shape so that light is incident at a predetermined angle of view from the entire circumference of 360°, and is formed in an annular shape so as to be adjacent to and substantially opposed to the light incident surface, and reflects light into the lens. The first reflection surface and the second reflection that is provided at the center of the inside of the ring of the light incident surface and that reflects the reflected light from the first reflection surface toward the inside portion of the ring of the first reflection surface It has a face. A light emitting surface that transmits light from the second reflecting surface is formed at a position facing the second reflecting surface in a center portion inside the ring that is an inner portion of the ring of the first reflecting surface.
　環状の光入射面は、凸レンズ状に形成され、光入射面に対向した第一反射面は、側方に膨らんだ凸面状に形状され、第一反射面のレンズの内面が、第二反射面の方向を向いた環状の凹面鏡の反射面となっている。光入射面の中心側に位置した第二反射面は、凹面状に形成され、レンズの内面が凸面鏡の反射面となっている。また、光出射面は、適宜用途に応じて、凹面や凸面又は平面状に形成されている。 The ring-shaped light incident surface is formed in a convex lens shape, the first reflecting surface facing the light incident surface is formed in a convex shape swelling sideways, and the inner surface of the lens of the first reflecting surface is the second reflecting surface. It is the reflecting surface of an annular concave mirror facing the direction of. The second reflecting surface located on the center side of the light incident surface is formed in a concave shape, and the inner surface of the lens serves as the reflecting surface of the convex mirror. Further, the light emitting surface is formed into a concave surface, a convex surface, or a flat surface depending on the intended use.
　このパノラマ撮像レンズを用いたパノラマ撮像装置は、その光軸上に設けられた結像用のリレーレンズとレンズホルダ、及び図示しないケース等から成るパノラマ撮像レンズユニットと、このパノラマ撮像レンズユニットが取り付けられたカメラから成る。そして、パノラマ撮像レンズにより捉えられた３６０°のパノラマ風景は、カメラ内の撮像素子に環状の画像として結像し、電気信号に変換されて、後段の変換処理装置により各種モニタ装置に表示可能な状態で電気信号に変換処理されて出力される。さらに、パノラマ風景の画像は、環状であり極座標系の画像であるので、最終的には図示しないコンピュータ等の画像処理装置により直交座標系に座標変換されて、展開パノラマ画像としてモニタ装置に表示される。 A panoramic image pickup apparatus using this panoramic image pickup lens includes a panoramic image pickup lens unit including an image forming relay lens and a lens holder provided on an optical axis of the panoramic image pickup lens, a case (not shown), and the like. It consists of a fixed camera. Then, the 360° panoramic view captured by the panoramic image pickup lens is imaged as an annular image on the image pickup device in the camera, converted into an electric signal, and can be displayed on various monitor devices by the conversion processing device in the subsequent stage. In the state, it is converted into an electric signal and output. Further, since the image of the panoramic landscape is an image of a circular and polar coordinate system, it is finally coordinate-converted into an orthogonal coordinate system by an image processing device such as a computer (not shown) and displayed on the monitor device as a developed panoramic image. It
　一方、広範囲の外界を観測する装置として、例えば各種車両走行の安全を担保するために、車両に取り付けられその周辺を監視するカメラを備えた車両周辺監視装置が種々提案されている。特許文献２に開示された装置は、多数のカメラを車両の周囲に配置し、ドライバの視認方向のカメラ画像をモニタに表示し、車両周辺の死角をなくすようにしたものである。 On the other hand, as a device for observing a wide range of outside world, for example, various vehicle surroundings monitoring devices equipped with cameras for monitoring the surroundings have been proposed in order to ensure the safety of running of various vehicles. The device disclosed in Patent Document 2 has a large number of cameras arranged around the vehicle, displays a camera image in the driver's viewing direction on a monitor, and eliminates blind spots around the vehicle.
　その他、特許文献３，４，５に開示されているように、カメラレンズの前方に配置され、視野方向を分割して、異なる方向の画像をカメラに導くプリズムや複数のミラーを設けた車両周辺監視装置も提案されている。これにより、一つのカメラで撮影する視野方向を増やし、より広範囲に車両周辺の監視を可能にし、車両の周囲の死角を減らしている。 In addition, as disclosed in Patent Documents 3, 4, and 5, a vehicle periphery provided with a prism or a plurality of mirrors arranged in front of a camera lens, dividing a visual field direction, and guiding images in different directions to the camera. Monitoring devices have also been proposed. As a result, the field of view taken by one camera is increased, the surroundings of the vehicle can be monitored in a wider area, and the blind spot around the vehicle is reduced.
特開２００３－１６７１９３号公報JP-A-2003-167193 特開２００５－１３６５６１号公報Japanese Patent Laid-Open No. 2005-136561 特開２００４－１０４４７６号公報JP, 2004-104476, A 特開２００９－１８４５５７号公報Japanese Patent Laid-Open No. 2009-184557 特開２０１１－５９３０号公報JP, 2011-5930, A
　上記特許文献１に開示されたパノラマ撮像装置は、３６０°の視野を有するが、レンズの中心軸である光軸方向の前後の画像をとらえることができない光学系であり、通常は光軸を鉛直方向に向けて、所定の画角で水平方向の３６０°を監視する装置として使用される。従って、車両の側方や下方、後方を監視する監視装置には用いられていない。 The panoramic imaging device disclosed in Patent Document 1 is an optical system that has a field of view of 360°, but cannot capture images before and after the optical axis direction that is the central axis of the lens, and normally the optical axis is vertical. It is used as a device that monitors 360° in the horizontal direction at a predetermined angle of view. Therefore, it is not used in a monitoring device that monitors the side, the lower side, or the rear of the vehicle.
　特許文献２に開示された車両周辺監視装置は、使用するカメラの数が多く、装置が複雑でコストもかかるものであり、実用的な車両用監視装置ではない。さらに、特許文献２～５に開示された車両周辺監視装置に用いられる光学系は、画角の広い広角レンズとプリズムやミラーを用いて、複数方向の視野を関し可能にしたものであるが、広角レンズの画角は比較的広いと言っても限られており、これを分割して表示すると、１方向の視野は狭いものとなり、単一のカメラで効果的に車両の広い範囲を監視可能な装置ではない。 The vehicle periphery monitoring device disclosed in Patent Document 2 is not a practical vehicle monitoring device because it uses a large number of cameras and the device is complicated and costly. Further, the optical system used in the vehicle periphery monitoring device disclosed in Patent Documents 2 to 5 uses a wide-angle lens having a wide angle of view and a prism or a mirror to enable a visual field in a plurality of directions. The angle of view of a wide-angle lens is relatively wide, but if it is divided and displayed, the field of view in one direction is narrow, and a single camera can effectively monitor a wide range of the vehicle. It is not a device.
　本発明は、上記背景技術に鑑みてなされたもので、簡単な構成で、観測対象の広い範囲からの光を受光することができる観測装置を提供することを目的とする。 The present invention has been made in view of the background art described above, and an object of the present invention is to provide an observation device that can receive light from a wide range of an observation target with a simple configuration.
　本発明は、光透過性の素材により形成され、レンズ中心の光軸回りに回転対称に形成されて、前記光軸に対して直交する周囲からの光が入射可能な光入射面を有したパノラマ撮像レンズと、前記パノラマ撮像レンズに入射した光をとらえる受光素子と、前記パノラマ撮像レンズと前記受光素子との間に配置され前記パノラマ撮像レンズに入射した光を前記受光素子に入射させる光学系とを有したパノラマ撮像装置を備え、前記パノラマ撮像装置の前記光軸の周囲の視野の一方向に配置され、前記光軸方向周辺からの光を前記パノラマ撮像レンズの前記光入射面の一部に導く反射部材を備えた観測装置である。 The present invention is a panorama formed of a light-transmissive material, formed in rotational symmetry around the optical axis of the lens center, and having a light incident surface on which light from the surroundings orthogonal to the optical axis can enter. An image pickup lens; a light receiving element for capturing light incident on the panoramic image pickup lens; and an optical system arranged between the panoramic image pickup lens and the light receiving element for making the light incident on the panoramic image pickup lens incident on the light receiving element. A panoramic imaging device having a panoramic imaging device, the panoramic imaging device is arranged in one direction around the optical axis of the panoramic imaging device, and the light from the periphery of the optical axis direction is made into a part of the light incident surface of the panoramic imaging lens. It is an observation device equipped with a reflecting member for guiding.
　また本発明は、光透過性の素材により形成され、レンズ中心の光軸回りに回転対称に形成されて、前記光軸に対して直交する周囲からの光が入射可能な光入射面を有したパノラマ撮像レンズと、前記パノラマ撮像レンズに入射して形成された画像をとらえる撮像素子と、前記パノラマ撮像レンズと前記撮像素子との間に配置され前記パノラマ撮像レンズに入射した光を前記撮像素子に結像させる撮像光学系とを有したパノラマ撮像装置を備え、前記パノラマ撮像装置の前記光軸の周囲の視野の一方向に配置され、前記光軸方向周辺からの光を前記パノラマ撮像レンズの前記光入射面の一部に導く反射部材を備えた観測装置である。 Further, the present invention has a light incident surface which is formed of a light-transmissive material, is formed in rotational symmetry around the optical axis of the lens center, and can receive light from the surroundings orthogonal to the optical axis. A panoramic imaging lens, an imaging element that captures an image formed by being incident on the panoramic imaging lens, and light incident on the panoramic imaging lens disposed between the panoramic imaging lens and the imaging element to the imaging element. A panoramic image pickup device having an image pickup optical system for forming an image, arranged in one direction of a visual field around the optical axis of the panoramic image pickup device, and allowing light from the periphery of the optical axis direction of the panoramic image pickup lens The observation device includes a reflection member that guides a part of the light incident surface.
　前記パノラマ撮像レンズは、レンズ中心の光軸回りに回転対称に形成され、前記光入射面は、前記光軸の周囲からの光が入射可能に凸レンズ状に形成され、前記光入射面と互いに対向する位置には前記パノラマ撮像レンズ表面の一部に環状に形成され、前記パノラマ撮像レンズ内へ光を反射するように外方に膨らんで凹面鏡状に形成された第一反射面が設けられ、前記光入射面の環内の中央部の前記パノラマ撮像レンズ表面には前記第一反射面からの反射光を前記第一反射面の環の内側部分に向けて反射する凸面鏡状の第二反射面が設けられ、前記第一反射面の環内中央部には前記第二反射面と対向して位置し前記第二反射面からの光を透過する光出射面を備えるものである。特に、前記パノラマ撮像レンズは、前記光軸の３６０°全周の光を前記光入射面に入射可能に形成されている。 The panoramic imaging lens is formed rotationally symmetrical about the optical axis of the lens center, and the light incident surface is formed in a convex lens shape so that light from the periphery of the optical axis can enter, and opposes the light incident surface. At a position to be provided, a first reflecting surface is formed in a part of the surface of the panoramic imaging lens in an annular shape, and is bulged outward so as to reflect light into the panoramic imaging lens and formed into a concave mirror shape. On the surface of the panoramic imaging lens in the center of the ring of the light incident surface, there is a convex mirror-shaped second reflecting surface that reflects the reflected light from the first reflecting surface toward the inner part of the ring of the first reflecting surface. A light emitting surface is provided in the center of the inside of the first reflecting surface, which faces the second reflecting surface and transmits the light from the second reflecting surface. In particular, the panoramic imaging lens is formed so that light of the entire 360° of the optical axis can enter the light incident surface.
　前記パノラマ撮像レンズ及び前記撮像光学系の前記光軸の方向と、前記反射部材の視野角の範囲に含まれる方向の少なくとも一方が、水平方向以下の方向に一致して設けられ、前記パノラマ撮像レンズには、前記光軸に対して直交する下方と両側方及び前記反射部材の前記視野角方向の画像が入射するものである。 At least one of the direction of the optical axis of the panoramic image pickup lens and the image pickup optical system and the direction included in the range of the viewing angle of the reflecting member are provided so as to be aligned in the horizontal direction or less, and the panoramic image pickup lens is provided. Are incident on the lower and both sides orthogonal to the optical axis and in the viewing angle direction of the reflecting member.
　前記撮像素子に入射した画像のうち、前記反射部材でとらえられた前記光軸方向周辺の画像と、前記撮像素子に入射した他の画像とを、各々表示する表示装置及びそれらの画像を処理する画像処理装置の少なくとも一方を備えたものである。前記表示装置は、前記パノラマ撮像装置の水平方向側方の画像、下方の画像、及び前記光軸方向周辺の画像を一つの表示画面に表示するものである。 Of the images incident on the image sensor, a display device for displaying an image around the optical axis captured by the reflecting member and another image incident on the image sensor, and a process for processing the images. At least one of the image processing devices is provided. The display device displays an image on the side in the horizontal direction of the panoramic image pickup device, an image below, and an image around the optical axis in one display screen.
　特に、前記パノラマ撮像装置を車両等の移動体の前方又は後方に配置して、前記移動体の前方又は後方を監視可能にしたものである。また、前記パノラマ撮像装置を移動体の側方に配置して、前記移動体の側方と、前方又は後方を監視可能にしたものでも良い。さらに、前記パノラマ撮像装置を移動体の前方及び後方の少なくなくとも何れかの角部に配置し、移動体の側方と前方及び／又は後方を監視可能にしたものでも良い。 In particular, the panoramic imaging device is arranged in front of or behind a moving body such as a vehicle so that the front or rear of the moving body can be monitored. Further, the panoramic imaging device may be arranged on the side of the moving body so that the side of the moving body and the front or the rear can be monitored. Further, the panoramic image pickup device may be arranged at at least one of the corners of the front and rear of the moving body so that the side and front and/or rear of the moving body can be monitored.
　その他、前記パノラマ撮像装置を複数配置し、前記パノラマ撮像レンズに入射する光により、撮像対象物までの距離を測定する処理装置を備えたものでも良い。 In addition, a plurality of the panoramic image pickup devices may be arranged and a processing device may be provided for measuring the distance to the image pickup target by the light incident on the panoramic image pickup lens.
　本発明の観測装置によれば、簡単な装置で広範囲の外界からの光を受光することができ、例えば周囲の状況の監視や計測等において、小型の装置で高精度の観測を行うことができる。特に、光軸の周囲の広い範囲を撮影可能なパノラマ撮像装置を用いて、その撮影範囲の不用な部分を、反射部材を用いて他の方向からの光の受光に利用しているものであり、一つの撮像素子等の受光素子で必要な広範囲の観測を可能にする。 According to the observation device of the present invention, it is possible to receive light from a wide range of outside world with a simple device, and it is possible to perform highly accurate observation with a small device, for example, in monitoring or measuring the surrounding conditions. .. In particular, a panoramic imaging device capable of photographing a wide range around the optical axis is used, and an unnecessary portion of the photographing range is used for receiving light from other directions by using a reflecting member. , Enables a wide range of observations required with a single light-receiving element such as an image sensor.
　更に、本発明の観測装置により移動体の周囲をより広範囲に監視する場合、移動体の運転者の死角を無くし、安全な運転に貢献するものである。移動体の前後または角部での配置を工夫することにより、パノラマ撮像装置の設置数も最小限にすることもできる。 Further, when the surroundings of the moving body are monitored in a wider range by the observation device of the present invention, the blind spot of the driver of the moving body is eliminated, which contributes to safe driving. The number of panoramic image pickup devices to be installed can be minimized by devising the arrangement of the moving body at the front and rear or at the corners.
本発明の第一実施形態の観測装置である移動体周辺監視装置の光学系の概略を示す図である。It is a figure which shows the outline of the optical system of the moving body periphery monitoring apparatus which is an observation apparatus of 1st embodiment of this invention. この実施形態の移動体周辺監視装置を取り付けた車両の平面図である。It is a top view of the vehicle which attached the mobile body circumference monitoring device of this embodiment. この実施形態の移動体周辺監視装置を取り付けた車両の側面図である。It is a side view of the vehicle which attached the mobile body surroundings monitoring device of this embodiment. この実施形態のパノラマ撮像装置を、移動体後方に配置した状態の撮影範囲を示す模式図（ａ）と、移動体側方に配置した状態の撮影範囲を示す模式図（ｂ）である。The panoramic imaging device of this embodiment is a schematic diagram (a) showing a photographing range in a state of being arranged behind a moving body, and a schematic diagram (b) showing a photographing range in a state of being arranged laterally of the moving body. この実施形態の移動体周辺監視装置によりパノラマ撮影した環状パノラマ画像を示す模式図である。It is a schematic diagram which shows the cyclic|annular panoramic image panoramic-photographed by the mobile body periphery monitoring apparatus of this embodiment. この実施形態の移動体周辺監視装置によりパノラマ撮影した環状パノラマ画像を画像処理して表示装置に表示する表示例を示す模式図である。It is a schematic diagram which shows the example of a display which carries out image processing of the annular panoramic image panoramic-photographed by the mobile body periphery monitoring apparatus of this embodiment, and displays it on a display apparatus. この実施形態の移動体周辺監視装置により撮像したパノラマ画像の他の表示例を示す模式図である。It is a schematic diagram which shows the other example of a display of the panorama image imaged with the mobile body periphery monitoring apparatus of this embodiment. 本発明の第二実施形態の観測装置である移動体周辺監視装置を取り付けた車両の例を示す平面図（ａ）と、このパノラマ撮像装置を移動体の角部に配置した状態の撮影範囲を示す模式図（ｂ）である。The top view (a) which shows the example of the vehicle which attached the moving body periphery monitoring apparatus which is the observation apparatus of 2nd embodiment of this invention, and the imaging range in the state which arrange|positioned this panoramic imaging device in the corner part of a moving body. It is a schematic diagram (b) shown. 本発明の第三実施形態の観測装置のパノラマ撮像装置の撮影範囲を示す模式図である。It is a schematic diagram which shows the imaging range of the panoramic imaging device of the observation apparatus of 3rd embodiment of this invention. 本発明の第四実施形態の観測装置のパノラマ撮像装置と受光素子を示す模式図である。It is a schematic diagram which shows the panoramic imaging device and the light receiving element of the observation apparatus of 4th embodiment of this invention.
　以下本発明の実施の形態について図面に基づいて説明する。図１～図６は本発明の第一実施形態を示すもので、この実施形態の観測装置である移動体周辺監視装置２６に用いられるパノラマ撮像装置１０は、光学ガラスやレンズ用の透明樹脂等で形成され、レンズ中心の光軸ｘ回りに回転対称に形成されたパノラマ撮像レンズ１２を備えている。以下、光学系及び空間の方向をＸＹＺの直交座標系において、Ｘ軸方向を水平方向とし、この実施形態では光軸ｘ方向と一致している。さらに、Ｘ軸と直交した水平方向をＹ軸方向とし、Ｘ軸及びＹ軸と直交する垂直方向をＺ軸方向とする。 Embodiments of the present invention will be described below with reference to the drawings. 1 to 6 show a first embodiment of the present invention. A panoramic image pickup device 10 used in a mobile body surroundings monitoring device 26, which is an observation device of this embodiment, includes an optical glass, a transparent resin for lenses, and the like. And a panoramic imaging lens 12 formed in a rotationally symmetrical manner about the optical axis x of the lens center. Hereinafter, in the XYZ orthogonal coordinate system, the directions of the optical system and the space are the horizontal directions in the X-axis direction, and in this embodiment, they coincide with the optical axis x direction. Further, the horizontal direction orthogonal to the X axis is the Y axis direction, and the vertical direction orthogonal to the X axis and the Y axis is the Z axis direction.
　パノラマ撮像レンズ１２は、３６０°の視界を一度に撮像できるように３６０°全周から、光軸ｘ上の面における画角θの範囲で、側方からの入射光Ｌが入射する環状の光入射面１４を有する。画角θは、４０°～８０°の範囲で、パノラマ撮像レンズ１２の光軸ｘと直交する方向に対して、例えば－１５°～６５°の範囲に設定されている。環状の光入射面１４は、表面が膨出した凸レンズ状に形成されている。さらに、パノラマ撮像レンズ１２は、光入射面１４に対して所定の間隔を隔てて、光入射面１４から入射した入射光Ｌを、パノラマ撮像レンズ１２内へ反射する環状の第一反射面１６を有する。環状の光入射面１４の環内中央部には、第一反射面１６からの反射光Ｒを、第一反射面１６の環の内側部分に向けて反射する第二反射面１８が、パノラマ撮像レンズ１２の光軸ｘを中心に、光入射面１４の環内中央部に設けられている。 The panoramic imaging lens 12 is a ring-shaped light into which the incident light L from the side is incident within the range of the angle of view θ on the surface on the optical axis x from the entire circumference of 360° so that the visual field of 360° can be imaged at one time. It has an entrance surface 14. The angle of view θ is set in the range of 40° to 80°, for example, in the range of −15° to 65° with respect to the direction orthogonal to the optical axis x of the panoramic imaging lens 12. The ring-shaped light incident surface 14 is formed in a convex lens shape with a bulged surface. Furthermore, the panoramic imaging lens 12 has an annular first reflecting surface 16 that reflects the incident light L incident from the light incident surface 14 into the panoramic imaging lens 12 at a predetermined distance from the light incident surface 14. Have. At the center of the ring-shaped light incident surface 14 inside the ring, a second reflection surface 18 that reflects the reflected light R from the first reflection surface 16 toward the inside of the ring of the first reflection surface 16 is panoramic imaged. It is provided in the center of the ring of the light incident surface 14 with the optical axis x of the lens 12 as the center.
　第一反射面１６は、パノラマ撮像レンズ１２の表面の光入射面１４と対向する位置に環状に形成され、パノラマ撮像レンズ１２の表面が外側に膨らんだ凸面に形成されている。第一反射面１６は、パノラマ撮像レンズ１２の内面側が、第二反射面１８の方向を向いた環状の凹面鏡の反射面となっている。第二反射面１８は、凹面に形成されパノラマ撮像レンズ１２の内面側が、凸面鏡の反射面として形成されている。第一反射面１６及び第二反射面１８は、パノラマ撮像レンズ１２の表面にアルミニウム蒸着等により金属薄膜を形成して鏡面にしたものである。 The first reflecting surface 16 is formed in a ring shape on the surface of the panoramic imaging lens 12 at a position facing the light incident surface 14, and the surface of the panoramic imaging lens 12 is formed as a convex surface that bulges outward. The inner surface side of the panoramic imaging lens 12 of the first reflection surface 16 is a reflection surface of an annular concave mirror facing the direction of the second reflection surface 18. The second reflecting surface 18 is formed as a concave surface, and the inner surface side of the panoramic imaging lens 12 is formed as a reflecting surface of a convex mirror. The first reflecting surface 16 and the second reflecting surface 18 are mirror surfaces formed by forming a metal thin film on the surface of the panoramic imaging lens 12 by aluminum vapor deposition or the like.
　環状の第一反射面１６の環内中央部には、第二反射面１８と対向する位置に、第二反射面１８からの光を透過する光出射面２０が形成されている。光出射面２０は、外部の光学系に合わせて凹面、凸面又は平面状に形成される。光入射面１４、第一反射面１６、及び第二反射面１８の各表面形状は、光入射面１４から入射した３６０°のパノラマ画像が、光出射面２０を経て得られるように、球面又は所定の計算式で設定される非球面レンズ形状に形成されている。 A light emitting surface 20 that transmits light from the second reflecting surface 18 is formed at a position facing the second reflecting surface 18 in the center of the ring-shaped first reflecting surface 16 inside the ring. The light emitting surface 20 is formed into a concave surface, a convex surface, or a flat surface according to the external optical system. The surface shapes of the light incident surface 14, the first reflecting surface 16, and the second reflecting surface 18 are spherical surfaces so that a 360° panoramic image incident from the light incident surface 14 can be obtained via the light emitting surface 20. It is formed into an aspherical lens shape set by a predetermined calculation formula.
　パノラマ撮像レンズ１２は、その光軸ｘ上に位置し光出射面２０と対向して設けられた撮像用の光学系である結像用のリレーレンズ２２を備え、図示しないレンズホルダにより保持され、さらに図示しない筐体内に設けられている。リレーレンズ２２の結像位置には、ＣＭＯＳ等の半導体による受光素子である撮像素子２４が設けられている。パノラマ撮像レンズ１２、リレーレンズ２２、及び撮像素子２４により、パノラマ撮像装置１０を構成している。 The panoramic image pickup lens 12 includes an image forming relay lens 22 which is an optical system for image pickup, which is located on the optical axis x and faces the light exit surface 20, and is held by a lens holder (not shown). Further, it is provided in a housing (not shown). An image pickup element 24, which is a light receiving element made of a semiconductor such as CMOS, is provided at the image forming position of the relay lens 22. The panoramic image pickup lens 10, the relay lens 22, and the image pickup device 24 constitute a panoramic image pickup device 10.
　撮像素子２４上に結像した画像は、図５に示すように、同心円状の極座標系の環状のパノラマ画像３６として撮像されるので、図示しない画像処理装置によりパノラマ画像３６が画像処理されて、直交座標系の画像に変換されて、例えば図６に示すように表示装置３５に監視画像３４として映し出される。 As shown in FIG. 5, the image formed on the image sensor 24 is captured as a circular panoramic image 36 in a concentric polar coordinate system, so that the panoramic image 36 is image-processed by an image processing device (not shown), It is converted into an image in a rectangular coordinate system and is displayed as a monitor image 34 on the display device 35 as shown in FIG. 6, for example.
　さらに、この実施形態の移動体周辺監視装置２６は、パノラマ撮像装置１０の視野の一方向に、図１に示すように、パノラマ撮像レンズ１２の光軸ｘ方向の前方側からの入射光Ｌを、パノラマ撮像レンズ１２の光入射面１４の所定の一部の範囲、例えば３６０°の範囲の内の９０°程度の範囲を、光入射面１４に導く反射部材である反射鏡２８を備える。反射鏡２８の向きは、パノラマ撮像レンズ１２の光軸ｘ方向に近い方向の光をパノラマ撮像レンズ１２の光入射面１４に入射させるように、光軸ｘ方向に対して所定の角度α、例えばα＝２０°～５０°程度に配置される。 Furthermore, the mobile body surroundings monitoring device 26 of this embodiment, as shown in FIG. 1, makes incident light L from the front side of the panoramic imaging lens 12 in the optical axis x direction in one direction of the visual field of the panoramic imaging device 10. The panorama imaging lens 12 is provided with a reflecting mirror 28 that is a reflecting member that guides a predetermined partial range of the light incident surface 14, for example, a range of about 90° out of the 360° range to the light incident surface 14. The direction of the reflecting mirror 28 is set at a predetermined angle α, for example, with respect to the optical axis x direction so that light in a direction close to the optical axis x direction of the panoramic imaging lens 12 is incident on the light incident surface 14 of the panoramic image pickup lens 12. α=20° to 50°.
　この実施形態では、パノラマ撮像レンズ１２及びリレーレンズ２２の光軸ｘ方向と、反射鏡２８の、上下方向であるＺ軸方向を含むＸＺ平面上の視野角βの範囲に含まれる方向の少なくとも一方が、水平方向のＸ軸方向に一致して設けられている。これにより、パノラマ撮像レンズ１２には、パノラマ撮像レンズ１２の光軸ｘに対して直交する下方と、Ｙ軸方向における±の水平方向の両側方、及び反射鏡２８の上下方向の視野角β、及び後述する図２～図４に示すように、反射鏡２８の水平方向の視野角γの範囲内に入る方向の被写体からの光が入射する。なお、反射鏡２８の視野角β、及び視野角βを含む面と直交する面内であり、光軸ｘと平行な面内における反射鏡２８の視野角γは、反射鏡２８の大きさや曲率により適宜設定される。この実施形態の移動体周辺監視装置２６では反射鏡２８は、パノラマ撮像レンズ１２の光軸ｘ方向に対してほぼ４５°以下の鋭角で交差する方向の範囲の光を、パノラマ撮像レンズ１２に入射させるように設置されている。 In this embodiment, at least one of the optical axis x direction of the panoramic imaging lens 12 and the relay lens 22 and the direction included in the range of the viewing angle β of the reflecting mirror 28 on the XZ plane including the Z axis direction which is the vertical direction. Are provided so as to coincide with the horizontal X-axis direction. As a result, the panoramic imaging lens 12 has a viewing angle β in the downward direction orthogonal to the optical axis x of the panoramic imaging lens 12, on both sides in the Y-axis direction in the horizontal direction, and in the vertical direction of the reflecting mirror 28. Further, as shown in FIGS. 2 to 4 which will be described later, light from a subject in a direction that falls within the range of the horizontal viewing angle γ of the reflecting mirror 28 is incident. It should be noted that the viewing angle β of the reflecting mirror 28 and the viewing angle γ of the reflecting mirror 28 in the plane orthogonal to the plane including the viewing angle β and parallel to the optical axis x are the size and the curvature of the reflecting mirror 28. Is set as appropriate. In the mobile body periphery monitoring device 26 of this embodiment, the reflecting mirror 28 makes the light in the range intersecting the optical axis x direction of the panoramic imaging lens 12 at an acute angle of approximately 45° or less enter the panoramic imaging lens 12. It is installed to let you.
　次に、この実施形態の移動体周辺監視装置２６を取り付けた車両３０について、図２～図４を基に説明する。移動体である車両３０の種類は問わないものであり、図面ではワンボックスタイプの乗用車を示しているが、大型のバスやトラック、ショベルカーやブルドーザ、クレーン車、その他土木作業用機械、産業用のフォークリフトやトラクター等でも良く、各種の有人又は無人のカート等、適宜の移動体に取り付けて使用することができる。 Next, a vehicle 30 to which the moving body surroundings monitoring device 26 of this embodiment is attached will be described with reference to FIGS. 2 to 4. The type of the vehicle 30, which is a moving body, does not matter, and although the drawings show one-box type passenger cars, large buses, trucks, excavators, bulldozers, crane trucks, other civil engineering machines, industrial vehicles, etc. It may be a forklift truck, a tractor or the like, and can be used by being attached to an appropriate moving body such as various manned or unmanned carts.
　この実施形態の移動体周辺監視装置２６は、車両３０において運転者の死角が生じる後部３０ａにパノラマ撮像装置１０を取り付け、画像処理装置や表示装置３５は、図示しない車内の適宜の位置に取り付けられる。画像処理装置は、車両３０とネットワークで接続された外部のホストコンピュータに設けられていても良く、極座標系の環状のパノラマ画像３６を直交座標系の画像に変換する他、人や動物、その他各種の物体を検知した情報の処理や、光ビーコン、SLAM(Simultaneous Localization And Mapping）技術を使った自車位置測位のための処理行うものでも良い。さらに、車両３０の運転席とは反対側のサイドミラー３２やその他の側面の内部又は下部に、パノラマ撮像装置１０を適宜取り付けても良い。各パノラマ撮像装置１０は、パノラマ撮像レンズ１２の光軸ｘが水平方向に取り付けられる。 The moving object surroundings monitoring device 26 of this embodiment has the panoramic imaging device 10 attached to the rear portion 30a of the vehicle 30 where the blind spot of the driver occurs, and the image processing device and the display device 35 are attached to appropriate positions in the vehicle (not shown). .. The image processing device may be provided in an external host computer connected to the vehicle 30 via a network, and converts the circular panoramic image 36 of the polar coordinate system into an image of the orthogonal coordinate system, and also humans, animals, and various other types. It may be a process for processing information for detecting an object, or a process for positioning the own vehicle using an optical beacon or SLAM (Simultaneous Localization And Mapping) technology. Furthermore, the panoramic imaging device 10 may be appropriately attached to the inside or the lower portion of the side mirror 32 on the side opposite to the driver's seat of the vehicle 30 and other side surfaces. The optical axis x of the panoramic imaging lens 12 is attached to each panoramic imaging device 10 in the horizontal direction.
　パノラマ撮像装置１０によるり監視可能な範囲について、図２～図４を基に説明する。車両３０の後部３０ａにパノラマ撮像装置１０を取り付けた場合、図２、図３、図４（ａ）に示すように、反射鏡２８の上下方向の視野角βと水平方向の視野角γの範囲は、車両３０の進行方向をＦｗとすると、車両３０の後方であって、例えば上下左右に９０°の視野の範囲が監視可能となる。さらに、パノラマ撮像装置１０の３６０°の撮影可能範囲の内の、反射鏡２８からの光が入る部分以外の監視範囲δは、１８０°以上の例えば２５０°程度の範囲とすることができる。従って、パノラマ撮像装置１０の画角θで、監視範囲δを監視することができる。車両３０の後部３０ａにパノラマ撮像装置１０を取り付けた場合、光軸ｘ方向を含む後方、及び車両３０の後部３０ａのＹ軸方向の左右方向及び左右の斜め上方、並びに後部３０ａのＺ軸方向の下方の状況を含む監視範囲δを監視することができる。 The range that can be monitored by the panoramic imaging device 10 will be described with reference to FIGS. 2 to 4. When the panoramic imaging device 10 is attached to the rear portion 30a of the vehicle 30, as shown in FIGS. 2, 3, and 4A, the range of the vertical viewing angle β and the horizontal viewing angle γ of the reflecting mirror 28. Assuming that the traveling direction of the vehicle 30 is Fw, it is possible to monitor the range behind the vehicle 30, for example, the field of view of 90° vertically and horizontally. Further, within the 360° image-capable range of the panoramic image pickup apparatus 10, the monitoring range δ other than the part where the light from the reflecting mirror 28 enters can be 180° or more, for example, a range of about 250°. Therefore, the monitoring range δ can be monitored by the angle of view θ of the panoramic imaging device 10. When the panoramic imaging device 10 is attached to the rear portion 30a of the vehicle 30, the rear portion including the optical axis x direction, the left and right directions of the rear portion 30a of the vehicle 30 in the Y-axis direction, and the left and right diagonally upwards, and the Z-axis direction of the rear portion 30a. It is possible to monitor the monitoring range δ including the situation below.
　同様に、車両３０の側方であるサイドミラー３２にパノラマ撮像装置１０を取り付けた場合、図２、図３、図４（ｂ）に示すように、反射鏡２８の上下方向の視野角βと水平方向の視野角γの範囲は、車両３０の進行方向Ｆｗと直交する側方に光軸ｘが位置し、例えば上下左右に９０°の視野の範囲が監視可能となる。さらに、光軸ｘ方向と直交するＹ軸方向においては、サイドミラー３２が設けられた側の前後方向であり車両の進行方向ＦｗであるＹ軸方向の前後及び前後の斜め上方、並びにサイドミラー３２の下方の状況を含む監視範囲δを監視することができる。監視範囲δは、上記と同様に、１８０°以上の例えば２５０°程度の範囲とすることができる。 Similarly, when the panoramic imaging device 10 is attached to the side mirror 32 that is on the side of the vehicle 30, as shown in FIGS. 2, 3, and 4B, the vertical viewing angle β of the reflecting mirror 28 and In the range of the viewing angle γ in the horizontal direction, the optical axis x is located on the side orthogonal to the traveling direction Fw of the vehicle 30, and for example, the viewing range of 90° vertically and horizontally can be monitored. Further, in the Y-axis direction that is orthogonal to the optical axis x direction, it is the front-rear direction on the side where the side mirror 32 is provided, and the front-rear direction and the front-rear diagonally upward direction in the Y-axis direction, which is the traveling direction Fw of the vehicle, and the side-mirror 32. It is possible to monitor the monitoring range δ including the situation below. Similarly to the above, the monitoring range δ can be set to a range of 180° or more, for example, about 250°.
　表示装置３５に表示される監視画像３４は、図５に示す円環状の極座標系のパノラマ画像３６として撮像素子２４により撮影されるので、撮影された極座標系の画像を、画像処理装置により画像処理して、図６に示すように、直交座標系の監視画像３４に変換して極座標系の歪みを補正し、表示装置３５の四角い表示画面上に表示される。 The monitoring image 34 displayed on the display device 35 is photographed by the image sensor 24 as the circular polar coordinate system panoramic image 36 shown in FIG. 5, so the photographed polar coordinate system image is processed by the image processing device. Then, as shown in FIG. 6, the image is converted into a monitor image 34 in a rectangular coordinate system to correct the distortion in the polar coordinate system and displayed on a square display screen of the display device 35.
　パノラマ撮像装置１０は、パノラマ撮像レンズ１２の光軸ｘが水平方向に取り付けられているので、図５に示す環状のパノラマ画像３６は、左右の側方画像３６ａ、３６ｂと、車両３０の後部３０ａの下部を撮した下部画像３６ｃが連続的に撮影される。さらに、パノラマ画像３６の上方のほぼ９０°の視野角β及び視野角γの範囲には、反射鏡２８で反射されて、パノラマ撮像レンズ１２の光入射面１４に入射した略水平方向に後方遠方の、後方遠方画像３６ｄが撮影される。 Since the optical axis x of the panoramic image pickup lens 12 is attached in the horizontal direction in the panoramic image pickup apparatus 10, the annular panoramic image 36 shown in FIG. 5 has left and right side images 36a and 36b and the rear portion 30a of the vehicle 30. Lower images 36c of the lower part of the image are continuously captured. Further, in the range of the viewing angle β and the viewing angle γ of approximately 90° above the panoramic image 36, the light is reflected by the reflecting mirror 28 and is incident on the light incident surface 14 of the panoramic image pickup lens 12 in a substantially horizontal direction at a rear distance. The rear distant image 36d is captured.
　パノラマ撮像装置１０の撮像素子２４で撮影された、図５に示すパノラマ画像３６は、図示しない画像処理装置により、図６に示す直交座標系の監視画像３４に変換され、表示装置３５に表示される。表示される監視画像３４は、左右の側方画像３４ａ、３４ｂが両側に表示されるとともに、車両３０の後部３０ａの下部画像３４ｃが各々区切られて表示される。さらに、図５に示すパノラマ画像３６の上方のほぼ９０°の範囲にある、反射鏡２８で反射された後方遠方画像３６ｄは、図６に示す後方遠方画像３４ｄとして表示される。 The panoramic image 36 shown in FIG. 5 taken by the image pickup device 24 of the panoramic image pickup device 10 is converted into a monitor image 34 in the Cartesian coordinate system shown in FIG. 6 by an image processing device (not shown) and displayed on the display device 35. It In the displayed monitoring image 34, left and right side images 34a and 34b are displayed on both sides, and a lower image 34c of the rear portion 30a of the vehicle 30 is displayed separately. Further, the rear far image 36d reflected by the reflecting mirror 28 in the range of approximately 90° above the panoramic image 36 shown in FIG. 5 is displayed as the rear far image 34d shown in FIG.
　パノラマ撮像装置１０で撮影されたパノラマ画像３６の他の表示方法として、図７に示す監視画像３８のように、パノラマ画像３６の左右の側方画像３４ａ、３４ｂと下部画像３４ｃを連続して、左右の側方画像３８ａ、３８ｂとして表示し、反射鏡２８で反射された画像は、後方遠方画像３８ｃとして、側方画像３８ａ，３８ｂの間に大きく表示しても良い。 As another display method of the panoramic image 36 captured by the panoramic imaging device 10, as in the monitoring image 38 shown in FIG. 7, the left and right side images 34a and 34b of the panoramic image 36 and the lower image 34c are consecutively displayed. The left and right side images 38a and 38b may be displayed, and the image reflected by the reflecting mirror 28 may be displayed large as the rear far image 38c between the side images 38a and 38b.
　この移動体周辺監視装置２６によれば、３６０°の範囲を撮影することができるパノラマ撮像装置１０を用いて、効果的に広範囲の画像やその他の光情報を取得することができ、３６０°の範囲のうち、上空等の必要のない範囲について、反射鏡２８を使って必要な範囲の画像を、パノラマ撮像レンズ１２に入射させ、単一のパノラマ撮像装置１０で、車両３０の周囲の極めて広範囲の監視を行うことができる。特に、車両３０の後部３０ａに設けた場合は、後部３０ａのＹ軸方向の左右には、光軸ｘ方向と直交する水平方向を含む左右の斜め上方からＺ軸方向下方を含む１８０°以上の監視範囲δで、パノラマ撮像レンズ１２の画角θで車両３０の後方を監視することができる。さらに、光軸ｘ方向であり水平方向のＸ軸方向後方遠方の範囲を、視野角β，γで確実に監視することができる。また、サイドミラー３２にパノラマ撮像装置１０を設けた場合も、同様にサイドミラー３２の前後方向であるＹ軸方向の斜め上方からＺ軸方向下方を含む１８０°以上の監視範囲δで、パノラマ撮像レンズ１２の画角θで車両３０の前後方向を監視することができる。さらに、サイドミラー３２のパノラマ撮像装置１０の光軸ｘ方向である水平方向のＸ軸方向側方の範囲を、視野角β，γで確実に監視することができる。 According to this moving object surroundings monitoring device 26, it is possible to effectively acquire a wide range of images and other optical information by using the panoramic image pickup device 10 capable of shooting the 360° range. With respect to an unnecessary range such as the sky, an image of a necessary range is made incident on the panoramic imaging lens 12 by using the reflecting mirror 28, and a single panoramic imaging device 10 is used to make an extremely wide range around the vehicle 30. Can be monitored. In particular, when the rear portion 30a of the vehicle 30 is provided, on the left and right sides of the rear portion 30a in the Y-axis direction, there are 180° or more including diagonally upper left and right sides including the horizontal direction orthogonal to the optical axis x direction and lower portions in the Z-axis direction. The rear of the vehicle 30 can be monitored by the angle of view θ of the panoramic imaging lens 12 in the monitoring range δ. Further, it is possible to reliably monitor the range in the optical axis x direction and in the rear far side in the horizontal X-axis direction with the viewing angles β and γ. Also, when the side mirror 32 is provided with the panoramic imaging device 10, similarly, the panoramic imaging is performed in the monitoring range δ of 180° or more including diagonally upward in the Y-axis direction which is the front-back direction of the side mirror 32 and downward in the Z-axis direction. The front-back direction of the vehicle 30 can be monitored by the angle of view θ of the lens 12. Further, it is possible to reliably monitor the range of the side mirror 32 on the lateral side in the X-axis direction, which is the optical axis x direction of the panoramic imaging device 10, with the viewing angles β and γ.
　次に、本発明の観測装置の第二実施形態移動体周辺監視装置２６について、図８（ａ），（ｂ）を基に説明する。この実施形態の移動体周辺監視装置２６は、このパノラマ撮像装置１０を車両３０の後部３０ａの角部に２台設けて使用するものである。これにより、車両３０の両側の側方を前後方向に１８０°以上の水平方向及び下方、及び後方の監視を行うことができる。さらに、反射鏡２８の向きを水平方向に、車両３０の両側の角部のうちの互いに反対側の角部方向の画像を撮影すると良い。これにより、反射鏡２８に写る範囲を、後部３０ａの後方及び車両３０の前後水平方向の側方を各々監視することができ、２台のパノラマ撮像装置１０により、車両３０の後部３０ａの後方全域を監視することができる。この実施形態では、車両３０の後部３０ａの角部で、パノラマ撮像レンズ１２の光軸ｘ方向が、水平方向のＸ軸とＹ軸方向の中間方向を向いて配置され、ＸＹ平面に対して斜め上方からＺ軸方向下方の１８０°以上の監視範囲δで、画角θで後部３０ａの角部を監視する。さらに、水平方向のＸ軸とＹ軸方向の中間方向の光軸ｘ方向に、後方の側方の範囲を視野角β，γで確実に監視することができる。 Next, the second embodiment of the moving object surroundings monitoring device 26 of the observation device of the present invention will be described based on FIGS. 8(a) and 8(b). The moving body surroundings monitoring device 26 of this embodiment is provided with two panoramic imaging devices 10 provided at the corners of the rear portion 30a of the vehicle 30. As a result, it is possible to monitor the sides of both sides of the vehicle 30 in the front-rear direction by 180° or more in the horizontal direction, the downward direction, and the backward direction. Furthermore, it is advisable to take an image of the opposite corners of the corners on both sides of the vehicle 30, with the reflecting mirror 28 oriented horizontally. Accordingly, the range reflected on the reflecting mirror 28 can be monitored behind the rear portion 30a and laterally in the front-rear horizontal direction of the vehicle 30, respectively, and the two panoramic imaging devices 10 can be used to cover the entire rear portion of the rear portion 30a of the vehicle 30. Can be monitored. In this embodiment, the optical axis x direction of the panoramic imaging lens 12 is arranged at the corner of the rear portion 30a of the vehicle 30 so as to face the intermediate direction between the horizontal X axis and the Y axis direction, and is oblique to the XY plane. The corner portion of the rear portion 30a is monitored at the angle of view θ within a monitoring range δ of 180° or more below the Z axis direction. Further, in the optical axis x direction, which is an intermediate direction between the horizontal X-axis and the Y-axis, it is possible to reliably monitor the rear side range with the viewing angles β and γ.
　この実施形態の観測装置の移動体周辺監視装置によれば、通常は前後左右の少なくとも３台のカメラを必要とするところ、２台の移動体周辺監視装置２６のみで、車両３０の左右両側方と、後方の上下及び後方遠方の全範囲を確実に監視することが可能となり、車両運転等の安全性を容易に高めることができる。 According to the moving object surroundings monitoring device of the observation device of this embodiment, at least three cameras in front, rear, left, and right are normally required, but only two moving object surroundings monitoring devices 26 are provided on both left and right sides of the vehicle 30. As a result, it is possible to reliably monitor the entire range in the rear up and down and in the rear distant, and it is possible to easily enhance the safety such as driving the vehicle.
　次に、本発明の第三実施形態の観測装置４０について、図９を基に説明する。ここで、上記実施形態と同様の構成は、同一の符号を付して説明を省略する。この実施形態の観測装置４０は、パノラマ撮像レンズ１２の光軸ｘ方向の後方側である光出射面２０側の所定範囲の方向から入射する光Ｌを、反射鏡２８を介して光入射面１２に入射させるものである。 Next, the observation device 40 according to the third embodiment of the present invention will be described with reference to FIG. Here, the same configurations as those of the above-described embodiment are denoted by the same reference numerals, and description thereof will be omitted. In the observation device 40 of this embodiment, the light L that is incident from a direction within a predetermined range on the side of the light emitting surface 20 that is the rear side of the panoramic imaging lens 12 in the optical axis x direction is reflected by the light incident surface 12 via the reflecting mirror 28. Is to be incident on.
　これにより、反射鏡２８からの光が入る部分以外の監視範囲δの範囲で、光軸ｘ方向と直交する方向を含む画角θの光と、光軸ｘ方向であって、パノラマ撮像レンズ１２の軸方向の後方側の範囲を、視野角β，γで観測することができる。この観測装置４０を用いた移動体周辺監視装置やその他の光学的な観測装置も、上記実施形態と同様に、効果的に広範囲の画像やその他の光情報を取得することができる。特に、移動体に設けた場合、周辺の監視を確実に行うことができる。 Thereby, in the range of the monitoring range δ other than the part where the light from the reflecting mirror 28 enters, the light of the angle of view θ including the direction orthogonal to the optical axis x direction and the optical axis x direction and the panoramic imaging lens 12 are provided. The range on the rear side in the axial direction of can be observed with the viewing angles β and γ. The moving body surroundings monitoring device and other optical observation devices using the observation device 40 can effectively acquire a wide range of images and other optical information as in the above embodiment. In particular, when it is provided on a moving body, it is possible to reliably monitor the surroundings.
　次に、本発明の第四実施形態の観測装置４２について、図１０を基に説明する。ここで、上記実施形態と同様の構成は、同一の符号を付して説明を省略する。この実施形態の観測装置４２は、反射部材４４を所定の角度で図示しない駆動装置により揺動させて、パノラマ撮像レンズ１２の光入射面１２に入射する光を走査するものである。そして、パノラマ撮像レンズ１２の光出射面２０側から出射した光は、リレーレンズ２２を経て、受光素子４６に結像させる。受光素子４６は、単一の受光素子でも良く、受光素子のアレイや２次元受光素子である撮像素子でもよい。 Next, the observation device 42 according to the fourth embodiment of the present invention will be described with reference to FIG. Here, the same configurations as those of the above-described embodiment are denoted by the same reference numerals, and description thereof will be omitted. The observation device 42 of this embodiment scans the light incident on the light incident surface 12 of the panoramic imaging lens 12 by swinging the reflecting member 44 at a predetermined angle by a driving device (not shown). Then, the light emitted from the light emitting surface 20 side of the panoramic imaging lens 12 is imaged on the light receiving element 46 via the relay lens 22. The light receiving element 46 may be a single light receiving element, an array of light receiving elements, or an image pickup element which is a two-dimensional light receiving element.
　この実施形態の観測装置４２によれば、パノラマ撮像レンズ１２により広範囲の周辺画像等の光情報を取得することができるとともに、レーザ光等の入射光Ｌを走査して、パノラマ撮像レンズ１２の光入射面１４に入射させ、レーザ光により走査した対象物からの反射光による光情報を容易に取得することができる。これにより、例えば、周辺画像の取得とともに、レーザ光による測距や、立体画像の取得も行うことが可能になる。 According to the observation device 42 of this embodiment, the panoramic imaging lens 12 can acquire optical information such as a peripheral image in a wide range, and the incident light L such as a laser beam is scanned so that the light of the panoramic imaging lens 12 can be scanned. It is possible to easily acquire the optical information based on the reflected light from the object which is incident on the incident surface 14 and scanned by the laser light. As a result, for example, it is possible to perform the distance measurement by the laser light and the acquisition of the stereoscopic image together with the acquisition of the peripheral image.
　本発明の観測装置は上記実施形態に限定されるものではなく、図８に示す例とは逆に、移動体周辺監視装置２６を車両３０の前方の角部に設けて撮影することにより、車両３０の側方を前後方向に１８０°以上の水平方向及び下方、並びに前方の監視を行うことができる。さらに、車両３０の側方に移動体周辺監視装置２６を設けて撮影することにより、車両３０の側方を前後方向に１８０°以上の水平方向及び下方、並びに前方の監視を行うことができる。また、移動体周辺監視装置２６を移動体の後方と両側面に各々設けて、３台のパノラマ撮像装置により、移動体周辺の監視を行っても良く、設置する台数や監視する方向は適宜選択可能なものである。 The observation device of the present invention is not limited to the above-described embodiment, and contrary to the example shown in FIG. 8, by providing the moving body surroundings monitoring device 26 at a front corner of the vehicle 30 to take an image, It is possible to monitor the side of 30 in the front-rear direction by 180° or more in the horizontal direction, the downward direction, and the front direction. Further, by providing the moving body surroundings monitoring device 26 on the side of the vehicle 30 and taking an image, it is possible to monitor the side of the vehicle 30 in the front-rear direction in the horizontal and downward directions of 180° or more, and in the front. In addition, the moving body surroundings monitoring device 26 may be provided on the rear side and both side surfaces of the moving body, and the surroundings of the moving body may be monitored by three panoramic image capturing devices. It is possible.
　その他、図８に示すように、移動体周辺監視装置２６を２台設けて、外界からの光情報を一対のパノラマ撮像装置１０で受光し、一対の入射光によりその被写体のステレオ画像を取得し、その被写体を立体的に捉えたり、被写体である撮像対象物までの距離を測量することも可能である。 In addition, as shown in FIG. 8, two mobile body surroundings monitoring devices 26 are provided, light information from the outside is received by a pair of panoramic imaging devices 10, and a stereo image of the subject is acquired by a pair of incident lights. It is also possible to capture the subject three-dimensionally and measure the distance to the image-capturing target that is the subject.
　パノラマ撮像レンズ１２及びリレーレンズ２２の光軸ｘ方向は、用途に合わせて適宜設定可能なものである。光軸ｘ方向を水平方向以下にする場合、パノラマ撮像レンズ１２の光入射面１４において、第二反射面１８側の最大入射角を仰角とすると、仰角の方向が、鉛直方向の真上を向くような位置までの範囲で、光軸ｘの向きを適宜設定可能である。さらに、光軸ｘ方向を水平方向より上方にする場合、パノラマ撮像レンズ１２の光入射面１４において、第一反射面１４側の最大入射角を俯角とすると、俯角の方向が、鉛直方向の真下を向く位置までの範囲で、光軸ｘの向きを適宜設定可能である。 The optical axis x direction of the panoramic imaging lens 12 and the relay lens 22 can be set appropriately according to the application. When the direction of the optical axis x is set to be equal to or less than the horizontal direction, and in the light incident surface 14 of the panoramic imaging lens 12, assuming that the maximum incident angle on the second reflecting surface 18 side is the elevation angle, the direction of the elevation angle is directly above the vertical direction. The direction of the optical axis x can be appropriately set within such a range. Further, when the optical axis x direction is set higher than the horizontal direction, in the light incident surface 14 of the panoramic imaging lens 12, when the maximum incident angle on the first reflecting surface 14 side is the depression angle, the depression angle is directly below the vertical direction. The direction of the optical axis x can be set as appropriate within a range up to the position facing.
　また、反射部材は、鏡面を有したものの他プリズムを利用した光学素子でも良く、その種類や材質は問わず、鏡面も、平面鏡のみならず凹面鏡や凸面鏡を用いても良い。パノラマ撮像レンズは、その配置位置や設置する場合の光軸の水平方向の角度は適宜設定されるもので、材質や視野角も適宜選択可能なものである。 Further, the reflecting member may be an optical element using a prism in addition to the one having a mirror surface, and the mirror surface may be not only a plane mirror but also a concave mirror or a convex mirror, regardless of its type and material. In the panoramic imaging lens, the arrangement position and the horizontal angle of the optical axis when installed are appropriately set, and the material and the viewing angle can also be appropriately selected.
　１０　パノラマ撮像装置
　１２　パノラマ撮像レンズ
　１４　光入射面
　１６　第一反射面
　１８　第二反射面
　２０　光出射面
　２２　リレーレンズ
　２４　撮像素子
　２６　移動体周辺監視装置
　３５　表示装置
　２８，４２　反射鏡
　３０　車両
　３０ａ　車両後部
　３２　サイドミラー
　３４　監視画像
　３６　パノラマ画像
　３８　監視画像
　４０，４２　観測装置
　４４　反射部材
　４６　受光素子 10 panoramic imaging device 12 panoramic imaging lens 14 light incident surface 16 first reflecting surface 18 second reflecting surface 20 light emitting surface 22 relay lens 24 image sensor 26 moving body surroundings monitoring device 35 display device 28, 42 reflecting mirror 30 vehicle 30a vehicle Rear part 32 Side mirror 34 Surveillance image 36 Panoramic image 38 Surveillance image 40, 42 Observing device 44 Reflecting member 46 Light receiving element

Claims (11)

  1. 　光透過性の素材により形成され、レンズ中心の光軸回りに回転対称に形成されて、前記光軸に対して直交する周囲からの光が入射可能な光入射面を有したパノラマ撮像レンズと、前記パノラマ撮像レンズに入射した光をとらえる受光素子と、前記パノラマ撮像レンズと前記受光素子との間に配置され前記パノラマ撮像レンズに入射した光を前記受光素子に入射させる光学系とを有したパノラマ撮像装置を備え、
    　前記パノラマ撮像装置の前記光軸の周囲の視野の一方向に配置され、前記光軸方向周辺からの光を前記パノラマ撮像レンズの前記光入射面の一部に導く反射部材を備えたことを特徴とする観測装置。     A panoramic imaging lens formed of a light-transmissive material, formed in rotational symmetry around the optical axis of the lens center, and having a light incident surface on which light from the periphery orthogonal to the optical axis can enter. A panorama including a light receiving element that captures light that has entered the panoramic imaging lens, and an optical system that is disposed between the panoramic imaging lens and the light receiving element and that causes the light that has entered the panoramic imaging lens to enter the light receiving element. Equipped with an imaging device,
    The panoramic imaging device is provided with a reflecting member that is arranged in one direction around the optical axis and guides light from the optical axis direction periphery to a part of the light incident surface of the panoramic imaging lens. Observing device.
  2. 　光透過性の素材により形成され、レンズ中心の光軸回りに回転対称に形成されて、前記光軸に対して直交する周囲からの光が入射可能な光入射面を有したパノラマ撮像レンズと、前記パノラマ撮像レンズに入射して形成された画像をとらえる撮像素子と、前記パノラマ撮像レンズと前記撮像素子との間に配置され前記パノラマ撮像レンズに入射した光を前記撮像素子に結像させる撮像光学系とを有したパノラマ撮像装置を備え、
    　前記パノラマ撮像装置の前記光軸の周囲の視野の一方向に配置され、前記光軸方向周辺からの光を前記パノラマ撮像レンズの前記光入射面の一部に導く反射部材を備えたことを特徴とする観測装置。     A panoramic imaging lens formed of a light-transmissive material, formed in rotational symmetry around the optical axis of the lens center, and having a light incident surface on which light from the periphery orthogonal to the optical axis can enter. An image pickup element for capturing an image formed by being incident on the panoramic image pickup lens, and an image pickup optical arranged between the panoramic image pickup lens and the image pickup element to form light incident on the panoramic image pickup lens on the image pickup element. A panoramic imaging device having a system,
    The panoramic imaging device is provided with a reflecting member that is arranged in one direction around the optical axis and guides light from the optical axis direction periphery to a part of the light incident surface of the panoramic imaging lens. Observing device.
  3. 　前記パノラマ撮像レンズは、レンズ中心の光軸回りに回転対称に形成され、前記光入射面は、前記光軸の周囲からの光が入射可能に凸レンズ状に形成され、前記光入射面と互いに対向する位置には、前記パノラマ撮像レンズ表面の一部に環状に形成され前記パノラマ撮像レンズ内へ光を反射するように外方に膨らんで凹面鏡状に形成された第一反射面が設けられ、前記光入射面の環内の中央部の前記パノラマ撮像レンズ表面には前記第一反射面からの反射光を前記第一反射面の環の内側部分に向けて反射する凸面鏡状の第二反射面が設けられ、前記第一反射面の環内中央部には前記第二反射面と対向して位置し前記第二反射面からの光を透過する光出射面を備える請求項１又は２記載の観測装置。 The panoramic imaging lens is formed rotationally symmetrical about the optical axis of the lens center, and the light incident surface is formed in a convex lens shape so that light from the periphery of the optical axis can enter, and opposes the light incident surface. At a position to be provided, a first reflecting surface formed in a ring shape on a part of the surface of the panoramic image pickup lens and bulged outward so as to reflect light into the panoramic image pickup lens and formed in a concave mirror shape, On the surface of the panoramic imaging lens in the center of the ring of the light incident surface, there is a convex mirror-shaped second reflecting surface that reflects the reflected light from the first reflecting surface toward the inner part of the ring of the first reflecting surface. The observation according to claim 1 or 2, further comprising: a light emitting surface that is provided in the center of the ring of the first reflecting surface and faces the second reflecting surface and that transmits light from the second reflecting surface. apparatus.
  4. 　前記パノラマ撮像レンズは、前記光軸の３６０°全周の光を前記光入射面に入射可能に形成されている請求項１又は２記載の観測装置。 The observation device according to claim 1 or 2, wherein the panoramic imaging lens is formed so that light of the entire 360° of the optical axis can be incident on the light incident surface.
  5. 　前記パノラマ撮像レンズ及び前記撮像光学系の前記光軸の方向と、前記反射部材の視野角の範囲に含まれる方向の少なくとも一方が、水平方向以下の方向に一致して設けられ、前記パノラマ撮像レンズには、前記光軸に対して直交する下方と側方及び前記反射部材の前記視野角方向の画像が入射する請求項２記載の観測装置。 At least one of the direction of the optical axis of the panoramic image pickup lens and the image pickup optical system and the direction included in the range of the viewing angle of the reflecting member are provided so as to be aligned in the horizontal direction or less, and the panoramic image pickup lens is provided. The observation device according to claim 2, wherein an image in a downward direction, a lateral direction, and the viewing angle direction of the reflecting member orthogonal to the optical axis is incident on the image.
  6. 　前記撮像素子に入射した画像のうち、前記反射部材でとらえられた前記光軸方向周辺の画像と、前記撮像素子に入射した他の画像とを、各々表示する表示装置及びそれらの画像を処理する画像処理装置の少なくとも一方を備えた請求項２記載の観測装置。 Of the images incident on the image sensor, a display device for displaying an image around the optical axis captured by the reflecting member and another image incident on the image sensor, and a process for processing the images. The observation device according to claim 2, further comprising at least one of an image processing device.
  7. 　前記表示装置は、前記パノラマ撮像装置の水平方向側方の画像、下方の画像、及び前記光軸方向周辺の画像を一つの表示画面に表示する請求項６記載の観測装置。 The observation device according to claim 6, wherein the display device displays an image of a side of the panoramic imaging device in the horizontal direction, an image below, and an image of the periphery of the optical axis on one display screen.
  8. 　前記パノラマ撮像装置を移動体の前方又は後方に配置して、前記移動体の前方又は後方を監視可能にした請求項６又は７記載の観測装置。 The observation device according to claim 6 or 7, wherein the panoramic imaging device is arranged in front of or behind the moving body so that the front or rear of the moving body can be monitored.
  9. 　前記パノラマ撮像装置を移動体の側方に配置して、前記移動体の側方と、前方又は後方を監視可能にした請求項６又は７記載の観測装置。 The observation device according to claim 6 or 7, wherein the panoramic imaging device is arranged on a side of the moving body so that the side of the moving body and the front or the rear can be monitored.
  10. 　前記パノラマ撮像装置を移動体の前方及び後方の少なくとも何れかの角部に配置し、前記移動体の側方と前方及び／又は後方を監視可能にした請求項６又は７記載の観測装置。 The observation device according to claim 6 or 7, wherein the panoramic imaging device is arranged at at least one of the corners of the front and rear of the moving body so that the side and front and/or the rear of the moving body can be monitored.
  11. 　前記パノラマ撮像装置を複数配置し、前記パノラマ撮像レンズに入射する光により、撮像対象物までの距離を測定する処理装置を備えた請求項３記載の観測装置。 The observation device according to claim 3, further comprising a processing device in which a plurality of the panoramic image pickup devices are arranged and a distance to an image pickup object is measured by light incident on the panoramic image pickup lens.
PCT/JP2019/041612 2018-12-17 2019-10-24 Observation apparatus WO2020129398A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-235267 2018-12-17
JP2018235267A JP6701482B1 (en) 2018-12-17 2018-12-17 Mobile object surroundings monitoring device

Publications (1)

Publication Number Publication Date
WO2020129398A1 true WO2020129398A1 (en) 2020-06-25

Family

ID=70776070

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/JP2019/023028 WO2020129278A1 (en) 2018-12-17 2019-06-11 Moving body periphery monitoring device
PCT/JP2019/041612 WO2020129398A1 (en) 2018-12-17 2019-10-24 Observation apparatus

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/023028 WO2020129278A1 (en) 2018-12-17 2019-06-11 Moving body periphery monitoring device

Country Status (3)

Country Link
JP (1) JP6701482B1 (en)
CN (1) CN113039485A (en)
WO (2) WO2020129278A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114442268A (en) * 2020-11-02 2022-05-06 三星电机株式会社 Optical imaging system

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111190274A (en) * 2020-02-13 2020-05-22 浙江大学 Double-channel image surface-sharing panoramic annular belt optical imaging device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03266740A (en) * 1990-03-16 1991-11-27 Toshiba Corp Rear view confirming camera loaded on car
JPH11312300A (en) * 1998-04-27 1999-11-09 Matsushita Electric Ind Co Ltd On-vehicle camera
JP2003167193A (en) * 2001-11-29 2003-06-13 Tateyama R & D:Kk Panoramic image pickup lens
JP2003304561A (en) * 2003-05-01 2003-10-24 Nissan Motor Co Ltd Stereo image processing apparatus

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4005456B2 (en) * 2002-09-10 2007-11-07 株式会社オートネットワーク技術研究所 Camera device and vehicle periphery visual recognition device
JP5152901B2 (en) * 2007-12-13 2013-02-27 国立大学法人富山大学 Panorama imaging method and apparatus
JP5245438B2 (en) * 2008-02-07 2013-07-24 日産自動車株式会社 Vehicle periphery monitoring device
JP5018722B2 (en) * 2008-10-01 2012-09-05 トヨタ自動車株式会社 Imaging device
JP2011005930A (en) * 2009-06-25 2011-01-13 Panasonic Corp Visibility supporting device
JP2011182176A (en) * 2010-03-01 2011-09-15 Toyama Univ Wide viewing angle image processing method, and wide viewing angle image photographing device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03266740A (en) * 1990-03-16 1991-11-27 Toshiba Corp Rear view confirming camera loaded on car
JPH11312300A (en) * 1998-04-27 1999-11-09 Matsushita Electric Ind Co Ltd On-vehicle camera
JP2003167193A (en) * 2001-11-29 2003-06-13 Tateyama R & D:Kk Panoramic image pickup lens
JP2003304561A (en) * 2003-05-01 2003-10-24 Nissan Motor Co Ltd Stereo image processing apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114442268A (en) * 2020-11-02 2022-05-06 三星电机株式会社 Optical imaging system

Also Published As

Publication number Publication date
JP6701482B1 (en) 2020-05-27
CN113039485A (en) 2021-06-25
WO2020129278A1 (en) 2020-06-25
JP2020098228A (en) 2020-06-25

Similar Documents

Publication Publication Date Title
CN110178369B (en) Imaging device, imaging system, and display system
US6304285B1 (en) Method and apparatus for omnidirectional imaging
CN112655024B (en) Image calibration method and device
US10623618B2 (en) Imaging device, display system, and imaging system
JP2018084802A (en) Imaging device, imaging system, and distance information acquisition method
US20200026161A1 (en) Optical system, image capturing apparatus, distance measuring apparatus, and vehicle-mounted system
WO2020129398A1 (en) Observation apparatus
US10789730B2 (en) Method and apparatus for monitoring a position
JP6983740B2 (en) Stereo camera system and distance measurement method
JP2023025370A (en) Camera module, imaging system, and mobile body
KR100552367B1 (en) Rectilinear mirror and imaging system having the same
WO2021235255A1 (en) Image display module
WO2022186189A1 (en) Imaging device and three-dimensional display device
WO2022024814A1 (en) Camera system and driving assistance system
KR20170071010A (en) Catadioptric Type Omnidirectional Optic Lens and Omni-directional Camera System Using the Same
JP7244129B1 (en) night vision camera
JPH02151828A (en) All-azimuth observation device
US20240114253A1 (en) Movable apparatus and installation method for imaging device
JP2010019924A (en) Photographing apparatus
WO2023120603A1 (en) Imaging device and image processing method
JP2024039978A (en) Image processing device and image processing method
EP2139224A1 (en) Imaging system, sensor unit with an imaging system and vehicle mirror comprising an imaging system
KR20150047123A (en) Apparatus for acquiring super wide angle panorama image for vehicle
JP2024048085A (en) Ranging device, vehicle-mounted system, and mobile device
JP2020197713A (en) Surround view imaging system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19900447

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19900447

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP