Distance measuring apparatus and distance measuring method

Abstract

To accurately project light to a target projection to determine distance to the target.SOLUTION: A distance measuring apparatus for measuring a distance to a target object by projecting light comprises: an imaging part 30 imaging the target object via an imaging optical system; an analysis part 51 detecting displacement of the target object to a reference axis of a first optical system used for light projection on the basis of an imaging result obtained by the imaging part; a control part 52 displacing a lens element included in the first optical system so as to deflect light in a direction determined by detection result of the displacement of the target object; a light projection part 10 projecting light to the target object through the first optical system; and a processing part 61 determining a distance to the target object on the basis of detection result of reflected light through the second optical system, generated by projecting light to the target object using the light projection part. The imaging optical system is common to at least part of the first optical system or the second optical system.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a distance measuring device and a distance measuring method. [Background technology]

[0002] A camera device is known that extracts the contour of a subject based on the output of an AF area sensor, performs distance measurement focusing on the contour within a wide range of distance measurement areas, and focuses based on the distance measurement data, thereby capturing an image by focusing on the main subject without being affected by the background (see, for example, Patent Document 1). Patent Document 1: JP 2001-304855 A General Disclosure

[0003] (Item 1) It may be a distance measuring device that projects light to measure the distance to an object. The distance measurement device may include a control unit that controls the projection state of light based on the detection result of the object. The distance measurement device may include a light projection unit that projects light controlled by the control unit onto the object. The distance measurement device may include a processing unit that determines the distance to the object based on the detection result of the reflected light. (Item 2) The distance measurement device may include an imaging unit that captures an image of the object. The control unit may detect the object based on the imaging result obtained by the imaging unit. (Item 3) The light projecting unit may project light onto the target object via an optical system. (Item 4) The imaging section may image the object via the optical system or an imaging optical system different from the optical system. (Item 5) The light projecting unit may include a light source unit that emits light. The control unit may control either one of the light source unit and the optical system to control the projection state of the light. (Item 6) The light projection state may include any one of the light irradiation direction and the light intensity. (Item 7) The imaging section may further detect reflected light from the object. (Item 8) The distance measurement device may include a detection unit that detects reflected light from an object. (Item 9) The distance measurement device may include an analysis section that analyzes the imaging results obtained by the imaging section. The analysis section may analyze an image of the object in the imaging result to identify the object. (Item 10) The analysis unit may analyze the image of the object based on a machine learning model. The machine learning model may be constructed in advance by machine learning using images of the object to be measured for distance as training data. (Item 11) The analysis unit may analyze the image of the object using an image processing method. The image processing techniques may include at least edge detection techniques. (Item 12) The control unit may control any one of the optical system, the imaging optical system different from the optical system, and the imaging unit so that the object analyzed by the analysis unit is imaged at the center of the imaging area of ​​the imaging unit. (Item 13) The analysis unit may identify the object at the center of the image. (Item 14) The imaging section may capture an image of the target object multiple times at different times. The analysis unit may identify the object from the image differences between the multiple images. (Item 15) The analysis unit may detect the resolution of the image. The control unit may control the optical system based on the detection result of the resolution to enlarge or reduce the image of the object. (Item 16) The analysis unit may analyze the image of the object to identify the center or center of gravity of the object. The control unit may control either one of the light projecting unit and the optical system to project the light onto the center of the specified object. (Item 17) The analysis unit may analyze an image of the object to identify the object. The control unit may control the light to scan the identified object with the light. The processing unit may determine the distance to the object based on the relationship between the position of the object scanned by the light and the detection result of the reflected light. (Item 18) The distance measurement device may further include a display unit that displays an image of the object obtained by the imaging unit on a display screen. (Item 19) The display unit may display an object indicating the location on the object to which the light is projected, or the object to which the distance has been determined, superimposed on an image of the object. (Item 20) The display section may display the image of the object obtained by the imaging section so that the location on the object onto which the light is projected is positioned at the center of the screen. (Item 21) The display screen may include a touch detection sensor that detects a touch operation by a user. The control unit may control the light to project the light onto the at least one location when at least one location included in the image is selected by a touch operation on the display screen. (Item 22) The distance measuring device may further include a calculation unit that calculates the distance to the multiple locations, or the distance and / or area between the multiple locations, when multiple locations included in the image are selected by a touch operation on the display screen. (Item 23) The optical system may include at least one corrective optical element of the following: a lens element, a prism, and a mirror. The control unit may drive at least one corrective optical element. (Item 24) The light projecting section may project light onto the object after the imaging section captures an image of the object. (Item 25) The control unit may correct blurring of the distance measuring device by controlling the optical system or the imaging optical system.

[0004] (Item 26) The distance measurement method may be a method for measuring the distance to an object by projecting light. The distance measurement method may control the state of projection of light based on the result of detection of the object. The distance measurement method may include projecting the controlled light onto the object in the controlling step. The distance measurement method may determine the distance to the object based on the detection result of the reflected light.

[0005] The above summary of the invention does not list all of the features of the present invention. Also, subcombinations of these features may also be inventions. [Brief description of the drawings]

[0006] [Figure 1] 1 shows the configuration of a distance measuring device according to the present embodiment. [Figure 2A] 1 illustrates the deflection of light by a mirror. [Figure 2B] 1 illustrates the deflection of light by a corrective lens. [Diagram 3] 1 shows an example of an object that can be identified from a captured image. [Figure 4A] 1 shows an object identified from a captured image. [Figure 4B] 4 shows the deviation from the reference axis detected for the identified object. [Figure 4C] 13 shows blur correction for the identified object. [Figure 5A] 1 shows an example of a display on a display screen. [Figure 5B] 11 shows another example of a display on the display screen. [Figure 6A] 11 shows an example of a display operation when a touch operation on the display screen is detected. [Figure 6B] 11 shows an example of a display operation when a touch operation on the display screen is detected. [Figure 7A] 11 shows an example of a display operation when a plurality of touch operations on the display screen are detected. [Figure 7B] 13 shows another example of a display operation when a plurality of touch operations on the display screen are detected. [Figure 8] 4 shows a flow of a distance measuring method according to the present embodiment. [Figure 9] 3 shows the configuration of a distance measuring device according to a first modified example. [Figure 10] 13 shows the configuration of a distance measuring device according to a second modified example. [Figure 11] 4 shows an example of control of the correction lens. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0008] FIG. 1 shows the configuration of a distance measurement device 100 according to this embodiment. 3 The distance measuring device 100 measures the distance to an object by projecting light thereon. The measurement of distance is also called distance measurement, and the operation of the distance measuring device 100 is also called distance measurement operation. 10 Along with light B 3 The direction in which the light is emitted (i.e., the left direction in the drawing) is the forward direction, and the opposite direction (i.e., the right direction in the drawing) is the rear direction. Here, the reference axis L 10 The orientation (also referred to as the direction) of is uniquely determined by the orientation of the body of the distance measurement device 100 (i.e., the housing that houses each of the components). The distance measurement device 100 includes a light projecting unit 10, a detecting unit 20, an imaging unit 30, an analyzing unit 51, a control unit 52, a processing unit 61, a display unit 70, and a calculating unit 62. The analyzing unit 51, the control unit 52, the processing unit 61, and the calculating unit 62 are functional units that are realized by an arithmetic processing device (not shown) executing a dedicated program.

[0009] The light projecting unit 10 emits light B controlled by a control unit 52, which will be described later. 3 The light projecting unit 10 projects the light onto an object via a light projection observation optical system (an example of an optical system) 12. The light projection unit 10 includes a light source 11 and the light projection observation optical system 12.

[0010] The light source 11 emits pulsed light B at a constant frequency. 1 The light source 11 may be, for example, a semiconductor laser that emits infrared light. 1 In one distance measurement operation, the light B is emitted a predetermined number of times, for example, 320 times, at a constant cycle, for example, at a cycle of 500 to 700 μsec. The light source 11 may have a driving device (not shown), and the control unit 52 may control the driving device to tilt the light source 11. In this case, the light B emitted from the light source 11 1 The direction of emission of light B changes and it is emitted toward the target object. 1 can be deflected.

[0011] The projection observation optical system 12 is a light B 1 The optical system is composed of a plurality of optical elements that shape and direct the light, and examples of the optical elements include a mirror 13, a correction lens 14, and an objective lens 15. These optical elements are arranged along the reference axis L of the projection observation optical system 12. 10 are arranged along

[0012] The mirror 13 is a mirror device that reflects or transmits light depending on its wavelength, and has a dichroic reflecting surface 13a and a driving device 13b. The dichroic reflecting surface 13a is a mirror element that reflects light in the infrared band and transmits light in the visible light band. The dichroic reflecting surface 13a is aligned with a reference axis L 10 Light B emitted from the light source 11 is placed on the 1 is reflected to the reference axis L 10 , and the visible light A enters the distance measuring device 100 from the front through the objective lens 15. 1 The light is then transmitted through the driver 13b and sent out toward the imaging unit 30 disposed behind the driver 13b. The driver 13b has a driver element such as an actuator or an electric motor, and tilts the dichroic reflecting surface 13a under the control of the controller 52 based on the detection result of the tilt of the dichroic reflecting surface 13a by a rotation sensor (not shown) or the like. As shown in FIG. 2A, the driver 13b tilts the dichroic reflecting surface 13a along the reference axis L. 10 By tilting the 3The direction of the launch is determined by the object moving relative to the aircraft and the reference axis L 10 The beam can be deflected toward an object that is out of range.

[0013] The correction lens 14 is a 2 The lens device 14a is a lens device that deflects the light reflected from the objective lens 15 and includes a lens element 14a and a driving device 14b. The lens element 14a is, for example, an internal focusing lens, and is aligned along a reference axis L between the mirror 13 and the objective lens 15. 10 The driving device 14b has a driving element such as a voice coil motor or a piezoelectric motor, and is controlled by the control unit 52 based on the detection result of the displacement of the lens element 14a by a displacement sensor (not shown) or the like, to move the lens element 14a along the reference axis L. 10 In this embodiment, the reference axis L 10 As shown in FIG. 2B, the lens element 14a is displaced along the reference axis L by the driving device 14b. 10 The light B3 is deflected by displacing it relative to the reference axis L 10 The correcting lens 14 may be a variable angle prism that is controlled by the control unit 52 and deforms asymmetrically with respect to the central axis.

[0014] The objective lens 15 receives light B , which is output from the light source 11 and enters through the mirror 13 and the correction lens 14. 2 is collimated to light B 3 and transmits visible light A 1 The objective lens 15 is an optical element that collimates the light emitted from the objective lens 15 and sends it backward. The objective lens 15 may be composed of a plurality of optical elements including at least one lens element. The objective lens 15 or the optical elements that compose it are aligned along the reference axis L. 10 The focal position may be driven back and forth by displacing the focal position along the

[0015] The light projection observation optical system 12 may include a prism (not shown) in place of or in combination with the mirror 13. The prism reflects the light B 115 from the front of the distance measuring device 100. 1 The prism has a drive unit that drives the holding frame, and the prism is rotated along the reference axis L. 10 By displacing and / or rotating with respect to 3 The direction of the launch can be deflected toward an object that is moving relative to the aircraft.

[0016] The mirror 13, the correcting lens 14, and the prism (not shown) are examples of corrective optical elements, and it is sufficient that the light projection observation optical system 12 includes at least one of these.

[0017] The detection unit 20 detects light B 3 The detection unit 20 is a unit that detects reflected light from an object by projecting light thereon. The detection unit 20 includes a light receiving lens 21 and a detection element 22.

[0018] The light receiving lens 21 receives the reflected light C from the object. 1 The reflected light C collected by the light receiving lens 21 is 1 is the reflected light C 2 The light receiving lens 21 is arranged on a reference axis L different from that of the objective lens 15 (light projection observation optical system 12) of the light projecting unit 10. 20 has.

[0019] The detection element 22 detects the reflected light C 2 The detection element 22 receives light B, for example, and outputs a detection signal corresponding to the intensity of the light. 3 A photodiode, a phototransistor, or the like having sensitivity to the band of the reflected light C can be used. 2 The detection signal is converted into a digital signal and supplied to the processing unit 61.

[0020] In the detection unit 20 having the above-described configuration, the reflected light C reflected (or scattered) from an object located in front of the distance measuring device 100 1 The reflected light C enters the light receiving lens 21. 1 is collected by the light receiving lens 21, and the reflected light C 2 The detection element 22 detects the reflected light as a signal. The detection signal is output to the processing unit 61.

[0021] The imaging unit 30 is a unit that images an object via the projection observation optical system 12. The imaging unit 30 has, as an example, a CMOS image sensor, and captures visible light A entering from the front of the aircraft via the projection observation optical system 12. 3 The image sensor detects the object from the surface. A filter element that transmits visible light and blocks infrared light may be provided on the light receiving surface of the image sensor. The detection result, i.e., the captured image of the object, is transmitted to the analysis unit 51 and the display unit 70. The light B emitted forward of the aircraft is 3 The optical axis of the visible light A entering from the front of the aircraft 1 The optical axis of and the reference axis L 10 Since the light B coincides with the light B of the object at the center of the image captured by the imaging unit 30, 3 can be projected.

[0022] The analysis unit 51 is a unit that analyzes the imaging results obtained by the imaging unit 30, that is, the captured image of the object. The analysis unit 51 analyzes the captured image of the object based on, for example, a machine learning model, and identifies the object from the captured image. Here, the machine learning model may be, for example, a multi-layer neural network (DNN) constructed by deep learning, and is constructed by machine learning in advance using the position or multiple images of the object to be measured for distance as teacher data. Here, the number of objects to be identified is not limited to one, and multiple objects may be identified. Multiple types of objects may be machine-learned in advance, and the user may select which type of object to identify during distance measurement.

[0023] 3 shows an example of an object that can be identified from within the captured image 200 by the analysis unit 51. In this example, a user who is a golf player measures the distance to a pin flag 202 as an object using the distance measuring device 100 in order to know the distance to a cup 201 on a green 210 on a golf course. The analysis unit 51 uses a machine learning model to identify the pin flag 202 from within the captured image 200 of the object obtained by the imaging unit 30, and calculates the distance from the center of the image (i.e., the reference axis L of the projection observation optical system 12). 10 ) is calculated. The object is not limited to the pin flag 202, and may be combined with an object located near the object cup 201, such as the green 210 or a pin (supporting the flag of the pin flag 202). This improves the accuracy of identifying the object by the machine learning model. In addition, when an object located near the object cup 201 is used, color information specific to the object (for example, green for the green 210) may be used.

[0024] FIG. 4A shows an object identified from the captured image 200. The analysis unit 51 detects the reference axis L 10 When the user points the aircraft in the direction of the object and positions the pin flag 202, which is the object, on the display screen 71a, the analysis unit 51 identifies the pin flag 202 based on a machine learning model. Since the shape of the pin flag 202 is usually fixed, the analysis unit 51 identifies the center or center of gravity of the pin flag 202 from its shape. In addition, the imaging unit 30 can capture images of the pin flag 202 multiple times at different times, and identify the center or center of gravity of the pin flag 202 from the image difference between the multiple images (the offset between images at which the difference in pixel values ​​is smallest).

[0025] Furthermore, if the user moves the aircraft to position the target object near the center of the display screen 71a, the accuracy of identifying the target object can be further improved. Also, an image of the target object may be registered in the aircraft in advance, and a machine learning model suitable for the target object may be automatically selected depending on the situation when the aircraft is operated. For example, if the situation in which the aircraft is operated is a golf game, a flag may be automatically selected as the machine learning (completed) model when the user selects a golf game. Also, the user may take an image of the target object during the first distance measurement operation, etc., and register it in the aircraft, and the registered machine learning (completed) model may be automatically selected during subsequent operations.

[0026] FIG. 4B shows a reference axis L detected for the identified object. 10 In this example, the object is located at the image center (reference axis L 10 As described above, once the object is identified from the captured image 200, the analysis unit 51 recognizes the object at an arbitrary position within the captured image 200 and determines whether the object is located on the reference axis L. 10 A deviation S of the object with respect to the image center corresponding to the position (the central coordinates of the object with respect to the central coordinates of the image center in the display screen 71a) is detected. The detection result of the deviation S is transmitted to the control unit 52. Note that the image center in the display screen 71a is also the intersection of the reference axis L10 in the detection element 22 and the detection element 22.

[0027] Instead of using a machine learning model, the captured image of the object may be analyzed using image processing techniques, including edge detection techniques that detect the contours of the object in the captured image, making it possible to detect various objects on the golf course in the captured image 200 shown in FIG. 3, such as bunkers 220, forests 230, and other hazards.

[0028] In addition, when the analysis unit 51 cannot detect the object, the analysis unit 51 may detect the resolution of the captured image of the object, and the control unit 52 may control the projection observation optical system 12 based on the detection result of the resolution to enlarge or reduce the image of the object. Image analysis by the analysis unit 51 will be described in more detail later.

[0029] The control unit 52 controls the light B based on the imaging result obtained by the imaging unit 30. 3 The control unit 52 controls the light projection unit 10 and / or the light projection observation optical system 12 to move the mirror 13 along the reference axis L. 10 The correction lens 14 is tilted relative to the reference axis L 10 , displacing and / or rotating the prism (not shown), and / or tilting the light source 11 with respect to the reference axes B1 and B2, light B is irradiated in a direction determined by the displacement S (and the distance to the object). 3 As a result, the light B is deflected as shown by the arrow in FIG. 3 The light continues to be irradiated onto the pin flag 202, which is the object identified by the analysis unit 51, and in particular onto its center or center of gravity.

[0030] In addition, light B 3 Since the deflection angle Θ when deflecting the light B toward the object corresponds to the angle of view of the display screen 71a determined by the magnification of the optical system, the deviation S representing the deviation amount of the center or center of gravity coordinates (pixel) of the object from the central coordinates (pixel) of the image center of the display screen 71a can be calculated. 3 The deflection angle Θ can be calculated.

[0031] The control unit 52 controls the light projection unit 10 and / or the light projection observation optical system 12 to project light B 3 Scan the light B 3 The control unit 52 may also deflect the light B 3 By changing not only the projection direction but also the intensity of light B 3 For example, when the reflectance of the object is low (or high), the reflected light C detected by the detection unit 20 may be controlled. 1 When the intensity of light B is weak (strong), 3The intensity of light B may be increased (decreased). 3 When scanning an object with a , the scanning may be across the object, i.e., including the object and its surrounding area, or it may be only within the area of ​​the object.

[0032] Moreover, the control unit 52 controls the light projecting unit 10 and / or the light projecting observation optical system 12 as described above, so that the object analyzed by the analysis unit 51 is imaged at the center of the imaging area of ​​the imaging unit 30. By imaging the object at the center of the imaging area in this manner, the detection accuracy is improved.

[0033] The processing unit 61 detects the reflected light C 1 The distance D to the object is determined based on the detection result of the light B emitted by the light projecting unit 10. 3 The reflected light C 1 By determining the detection time T until the measurement light is detected, it is calculated by D=T×c / 2 using the speed of light c. Here, the detection time T is the time required for the light to travel a distance equivalent to a round trip from the measurement position where the measurement light is emitted to the target object, so the detection time T is multiplied by the speed of light by half of the detection time T. Note that the detection time T may be determined by averaging the results obtained from multiple irradiations of the measurement light.

[0034] The processing unit 61 is a 3 In such a case, the analysis unit 51 analyzes the captured image of the object to identify the object, and the control unit 52 controls the light projection unit 10 and / or the light projection observation optical system 12 to project light B. 3 At the same time, the reflected light C is detected by the detection unit 20. 1 The processing unit 61 detects the light B 3 Scan position of the object and reflected light C 1 The distance to the object is determined based on the relationship between the scanning position of the object and the detection result of the reflected light. 1The distance can be determined for the scan position of the object where the detection strength is maximum, or the distance can be determined for all scan positions within the object, and the average or minimum distance can be determined as the distance to the object.

[0035] The processing unit 61 is a 3 In this case, the control unit 52 may control the projection observation optical system 12 to project light B 3 The deflection range or the field angle range of the captured image is scanned using the 1 The processing unit 61 detects the light B 3 Scan position and reflected light C 1 The processing unit 61 detects an object based on the relationship between the scan position and the detection result of the reflected light C and determines the distance to the object. 1 For example, the reflected light C 1 Alternatively, the object may be identified at the scan position where the detection intensity is maximum, and the distance to the object may be determined. Alternatively, the object may be identified at the position where the detection time T is minimum, for example, based on the relationship between the scan position and the detection result of the detection time T, and the distance to the object may be determined.

[0036] The processing unit 61 supplies the determined distance to the object to the display unit 70. The processing unit 61 may store the determined distance to the object in a storage device (not shown).

[0037] The display unit 70 is a unit that displays the captured image of the object obtained by the imaging unit 30 and the distance to the object determined by the processing unit 61, and has a display device 71 and a touch detection sensor 72. The display device 71 may be an electronic viewfinder or a liquid crystal display having a display screen exposed on the aircraft body. In this embodiment, the touch detection sensor 72 is used in combination with the display device 71, so a liquid crystal display is used as the display device 71. The touch detection sensor 72 is, for example, a capacitance sensor, and is disposed on the display screen 71a of the display device 71 to detect a touch operation by the user and the location on the display screen 71a that has been touched.

[0038] The calculation unit 62 is a unit that calculates the distance between a single or multiple locations and the distance and / or area between the multiple locations when a single or multiple locations included in a captured image are selected by a touch operation on the display screen 71a. The calculation will be described later.

[0039] 5A shows an example of a display displayed on the display screen 71a by the display unit 70. The display unit 70 displays a captured image 200 and light B superimposed thereon on the display screen 71a. 3 The display unit 70 displays a mark 240 indicating the location on the object where the light B is projected (or the distance is displayed). 3 The location on the pin flag 202 where the light B is projected, that is, the mark 240, is displayed. Also, the distance to the determined object, "385y (yards)", is displayed. The mark 240 may be displayed so as to be positioned at the center of the screen. 3 Instead of displaying a mark 240 indicating the location on the object to which the light is being projected, the object displaying the distance may be highlighted, or an object (e.g., a mark or arrow) may be superimposed on the object displaying the distance.

[0040] 5B shows an example of a display operation when the display unit 70 detects a touch operation on the display screen 71a by the touch detection sensor 72 by the user. In FIG. 5B, a pin flag 202 is displayed as an object on the display screen 71a of the display unit. It is assumed that the user touches the display screen 71a with a finger or the like to select the pin flag 202 included in the captured image 200. As a result, a mark 246 indicating the touch position is displayed superimposed on the pin flag 202. The touch detection sensor 72 detects the location (coordinates) on the display screen 71a where the user performed the touch operation, and the analysis unit 51 calculates the deviation S of the location (coordinates) on the display screen 71a where the touch operation was performed from the central coordinates of the image center of the display screen 71a, and determines the deviation of light B directed toward the object. 3 The control unit 52 controls the light projection unit 10 and / or the light projection observation optical system 12 to project the light B at the calculated deflection angle Θ. 3 is directed at the pin flag 202, projected, and the distance to the pin flag 202 is calculated.

[0041] 6A and 6B show an example of a display operation when the display unit 70 detects a touch operation on the display screen 71a by the user through the touch detection sensor 72. In the state shown in FIG. 6A, the distance measurement device 100 identifies a pin flag 202, which is an object, in the captured image 200, locks onto it, and emits light B 3 202 and continues to measure the distance to the pin flag 202. In this state, suppose that the user touches the display screen 71a with a finger or the like to select a banker 220 included in the captured image 200. In this case, the display unit 70 detects the location on the display screen 71a that the user touched using the touch detection sensor 72, and displays a mark 242 on the banker 220, which is the selected location, by superimposing it on the captured image 200. The analysis unit 51 detects the deviation S from the pin flag 202, which is the previously identified or selected object, to the banker 220, which is the selected location, and the control unit 52 controls the light projecting unit 10 and / or the light projecting observation optical system 12 based on the detection result of the deviation S to project light B 3 Then, the display unit 70 directs the captured image 200 and the light B to the selected banker 220 and projects the image 200 and the light B on the display screen 71a, as shown in FIG. 3A mark 242 indicating the location on the bunker 220 where the ball is being projected is displayed so that the mark is positioned at the center of the screen. Also, the determined distance to the bunker 220, "373 y (yards)", is displayed.

[0042] 7A shows an example of a display operation when the display unit 70 detects multiple touch operations by the user on the display screen 71a with the touch detection sensor 72. In this example, the user captures an image of a cup 201 on a green 210 as an object using the distance measurement device 100, and the captured image 200 is displayed on the display screen 71a. In this state, assume that the user touches the display screen 71a with a finger or the like to select the location of the cup 201 on the green 210 and the forest 230 behind the green 210, which are included in the captured image 200. In this case, the display unit 70 detects the locations on the display screen 71a where the user has touched using the touch detection sensor 72, and displays marks 246 at the two selected locations superimposed on the captured image 200, and the control unit 52 applies light B to each location. 3 The projection observation optical system 12 is controlled so that the light beams projected from the target 210 to the target 220 are projected, the processing unit 61 determines the distance to each of the locations, and the calculation unit 62 calculates the distance between the two locations based on the determined distances to the two locations and the angle of view between the two locations. As a result, the determined distance to the cup 201, "150y," and the distance to the forest 230, "170y," are displayed on the display screen 71a, and the calculation result of the distance between the cup 201 and the forest 230, "30y," is displayed on the display screen 71a, and the user can evaluate the risk of the shot going OB if the shot goes over the green 210 based on the distance from the cup 201 to the forest 230.

[0043] FIG. 7B shows another example of a display operation when the display unit 70 detects multiple touch operations by the user on the display screen 71a with the touch detection sensor 72. In this example, the user captures an image of the green 210 as an object using the distance measurement device 100, and the captured image 200 is displayed on the display screen 71a. In this state, assume that the user touches the display screen 71a with a finger or the like to select multiple locations (four in this example) along the contour of the green 210 included in the captured image 200. In this case, the display unit 70 detects the locations on the display screen 71a where the user touched using the touch detection sensor 72, displays marks 242 on the four selected locations superimposed on the captured image 200, and the calculation unit 62 calculates the area of ​​an area 244 surrounded by the four locations. The calculation result of the area of ​​the area 244 is displayed on the display screen 71a, and the user can know the approximate size of the green 210.

[0044] A flow of the distance measurement method according to this embodiment is shown in Fig. 8. The distance measurement operation is started when the user presses an operation button (not shown) provided on the body of the distance measurement device 100. In this example, it is assumed that a user who is a golf player measures the distance to a pin flag 202 as an object using the distance measurement device 100 in order to know the distance to a cup 201 on a green 210 on a golf course as shown in Fig. 3.

[0045] In step S102, the imaging unit 30 images the object via the projection observation optical system 12. As shown in Fig. 3, the image of the object, i.e., the pin flag 202 and the green 210 around it, is captured. The captured image is displayed on the display screen 71a of the display device 71 by the display unit 70.

[0046] Next, based on the imaging result obtained in step S102, light B 3 Specifically, the following steps S104 to S110 are executed.

[0047] In step S104, the analysis unit 51 analyzes the captured image of the object obtained in step S102. Note that, in the first distance measurement operation, as shown in FIG. 4A, the user swings the camera body up and down and left and right to move the pin flag 202, which is the object, along the reference axis L. 10 When the pin flag 202 is positioned at the top (i.e., at the center of the image displayed on the display screen 71a), the analysis unit 51 identifies the pin flag 202. After this, the analysis unit 51 becomes able to identify the pin flag 202 at any position within the captured image.

[0048] In step S106, the analysis unit 51 determines whether or not an object has been detected. If the pin flag 202 is not present in the captured image, the analysis unit 51 cannot detect the pin flag 202, determines that an object has not been detected, and returns to step S102. Then, the user moves the machine to position the pin flag 202 within the captured image. In this way, the analysis unit 51 detects the pin flag 202 in the captured image, determines that an object has been detected, and proceeds to step S108.

[0049] In step S108, the analysis unit 51 identifies the center of the pin flag 202, which is the target object. As described above, the analysis unit 51 identifies the center of the pin flag 202 from the shape center of the target object or the image difference between multiple images, and aligns the center of the pin flag 202 with the reference axis L as shown in FIG. 10 A deviation S of the object with respect to the image center corresponding to the position (the central coordinates of the object with respect to the central coordinates of the image center in the display screen 71a) is detected.

[0050] In step S110, the control unit 52 controls at least one corrective optical element included in the projection observation optical system 12 based on the analysis result of the image of the object obtained in step S108. The control of the corrective optical element is as described above. As a result, as shown by the arrow in FIG. 4C, the light B 3 can be projected onto the center of the pin flag 202.

[0051] In step S112, the distance to the object is measured. The light projecting unit 10 projects light B through the light projecting observation optical system 12 onto the center of the pin flag 202.3 Next, the detection unit 20 projects light B 3 Reflected light C from the pin flag 202 caused by the projection of 1 Finally, the processing unit 61 detects the reflected light C 1 Based on the detection result of the light B, the distance D to the pin flag 202 is determined. 3 Projected light, reflected light C 1 The details of the detection and the determination of the distance D are as described above.

[0052] After the image of the object is captured by the image capturing unit 30 in step S102, the light projecting unit 10 projects the light B 3 The imaging in step S102 and the light B in step S112 are projected onto the object. 3 As a result, when capturing an image of the object in step S102, the light B 3 Reflected light C generated by projecting 1 It is possible to prevent the image pickup unit 30 from detecting the

[0053] In step S114, the display unit 70 displays on the display screen 71a the distance to the object determined in step S112, "385y (yards)", together with the pin flag 202 and its surrounding captured image 200 obtained in step S102, as shown in FIG. 5A.

[0054] In step S116, it is determined whether or not to end the distance measurement operation. If the user presses the operation button (not shown) again, it is determined that the distance measurement operation is to be continued, and the flow returns to step S102, and if the operation button is not pressed, it is determined that the distance measurement operation is to be ended, and the flow ends.

[0055] According to the distance measurement device 100 of this embodiment, light B 3The observation system includes a light projection unit 10 that projects the light onto an object via a light projection observation optical system 12, an imaging unit 30 that images the object via the light projection observation optical system 12, an analysis unit 51 that analyzes the image of the object obtained by the imaging unit 30, and a control unit 52 that controls the light projection observation optical system 12 based on the analysis result by the analysis unit 51. With this, it is possible to accurately project light onto the object and determine the distance to the object by imaging the object via the light projection observation optical system 12 through which the light to be projected onto the object passes, analyzing the image of the object obtained thereby, and controlling the light projection observation optical system 12 based on the analysis result. In addition, since the user does not need to collimate an area including the object to visually recognize the object, it becomes easy to recognize the object.

[0056] In the distance measurement device 100 according to this embodiment, the imaging unit 30 captures an image of the object, and the detection unit 20 detects light B 3 Reflected light C from the target object is generated by projecting 1 Instead, the imaging unit 30 captures an image of the object and detects light B. 3 Reflected light C from the target object is generated by projecting 1 It is also possible to adopt a configuration in which the above-mentioned detection is performed.

[0057] 9 shows the configuration of a distance measurement device 110 according to the first modification. The distance measurement device 110 includes a light projector 10, an image capturer 30d, an analyzer 51, a controller 52, a processor 61, a display 70, and a calculator 62. The other units except for the image capturer 30d are configured similarly to those in the distance measurement device 100 described above.

[0058] The imaging unit 30d captures an image of the object via the light projection observation optical system 12d, and also projects light B 3 Reflected light (infrared light) C from the target object generated by projecting 1 The imaging unit 30 may be an image sensor having sensitivity in the visible light band and the infrared band, such as a CMOS image sensor. 1The captured image of the object obtained by receiving the light B is supplied to the analysis unit 51 and the display unit 70. 3 Reflected light (infrared light) from the object originating from C 3 The detection signal is converted into a digital signal and supplied to a processing unit 61.

[0059] The processing unit 61 detects reflected light (infrared light) C 3 The distance to the object is determined based on the detection results. The details are as described above.

[0060] According to the distance measuring device 110 having the above-mentioned configuration, the imaging unit 30 captures an image of an object and transmits light B 3 Reflected light C from the target object is generated by projecting 1 Since the imaging and detection functions can be shared, it is possible to reduce costs.

[0061] In the above-described distance measurement device 100, a configuration is adopted in which the light-projecting unit 10 and the imaging unit 30 share a single optical system (light-projecting observation optical system 12). Alternatively, a configuration may be adopted in which the imaging unit 30 and the light-projecting unit 10 each have an independent optical system.

[0062] 10 shows the configuration of a distance measurement device 120 according to the second modification. The distance measurement device 120 includes a light projecting unit 10d, a detection unit 20d, an imaging unit 30, an analysis unit 51, a control unit 52, a processing unit 61, a display unit 70, and a calculation unit 62. The other units except for the light projecting unit 10d and the detection unit 20d are configured similarly to those in the distance measurement device 100 described above.

[0063] The light projecting unit 10d projects light B 3 The light projecting unit 10d is a unit that projects the light onto an object via a light projecting optical system 12dd (an example of a first optical system). The light projecting unit 10d includes a light source 11 and a light projecting optical system 12dd.

[0064] As described above, the light source 11 emits pulsed light B at a constant frequency. 1 is generated and input to the projection optical system 12dd.

[0065] The projection optical system 12dd is light B. 1 The optical system is composed of a plurality of optical elements that shape and direct the light, and includes, as an example, a correction lens 14 and an objective lens 15. These optical elements are aligned along the reference axis L of the light projection optical system 12dd. 10 are arranged along

[0066] The correction lens 14 is a 1 The lens device 14 includes the lens element 14a and the driving device 14b. The configurations of these are as described above.

[0067] The objective lens 15 receives the light B output from the light source 11 and entering through the correction lens 14. 1 is collimated to light B 3 The objective lens 15 is an optical element that transmits the reflected light to the front of the distance measuring device 100. The objective lens 15 has the structure described above.

[0068] The detection unit 20d detects light B 3 Reflected light C from the target object is generated by projecting 1 via a detection observation optical system (an example of a second optical system) 22d. The detection unit 20 includes a light receiving lens 21, a correction lens 23, a mirror 24, and a detection element 22.

[0069] The light receiving lens 21 receives the reflected light C from the object. 1 The reflected light C collected by the light receiving lens 21 is 1 is sent to the correction lens 23.

[0070] The correction lens 23 corrects the reflected light C 2 The lens device 23a is a lens device that changes the light receiving angle of the light receiving lens 21 and the mirror 24, and includes a lens element 23a and a driving device 23b. The lens element 23a is, for example, an internal focusing lens, and is aligned along a reference axis L between the light receiving lens 21 and the mirror 24. 20 The driving device 23b has a driving element such as a voice coil motor or a piezoelectric motor, and is controlled by the control unit 52 based on the detection result of the displacement of the lens element 23a by a displacement sensor (not shown) or the like, to move the lens element 23a along the reference axis L. 20In this embodiment, the reference axis L 20 The displacement is in two mutually perpendicular axial directions within a plane perpendicular to the axis.

[0071] The mirror 24 is a mirror device that reflects or transmits light depending on its wavelength, and has a dichroic reflecting surface 24a. The dichroic reflecting surface 24a is a mirror element that reflects light in the infrared band and transmits light in the visible light band. The dichroic reflecting surface 24a is aligned with the reference axis L. 20 It is placed on top and reflects infrared light C 2 is reflected to the detection element 22, and the reflected light C 1 Also, visible light A enters from the front of the distance measuring device 100 through the light receiving lens 21 and the correction lens 14. 2 The light is then transmitted through the optical fiber 30 and sent to the imaging unit 30 located behind the optical fiber 30.

[0072] The detection element 22 detects the reflected light C 3 The detection element 22 is an element that receives light and outputs a detection signal corresponding to the intensity of the light. The detection signal is converted into a digital signal and supplied to the processing unit 61.

[0073] In the distance measurement device 120 having the above-described configuration, the imaging unit 30 receives visible light A via the detection observation optical system 22d. 3 The image of the object is captured by receiving the reflected light from the imaging unit 30. The analysis unit 51 analyzes the image of the object obtained by the imaging unit 30 and identifies the object from the captured image. The details of the analysis of the captured image are as described above. The control unit 52 controls the correction lens 14 included in the light projection optical system 12dd and the correction lens 23 included in the detection observation optical system 22d based on the analysis result by the analysis unit 51.

[0074] FIG. 11 shows an example of the control of the correction lenses 14 and 23. The analysis unit 51 calculates the center of the image (reference axis L 10 When a deviation S of the object relative to the reference axis L (the center coordinates of the object relative to the center coordinates of the image center in the display screen 71a) is detected, the control unit 52 drives the driving device 14b to move the lens element 14a relative to the reference axis L 10 As a result, the light B 3is deflected (reference axis L 10 At the same time, the control unit 52 drives the driving device 23b to move the lens element 23a along the reference axis L 20 As a result, the reflected light C 1 (and visible light A 1 ) is the reference axis L 20 Here, light B 3 The deflection angle and reflected light C 1 (and visible light A 1 ) are controlled equally. 3 is irradiated onto the object, and the reflected light C 1 In addition, according to this embodiment, light B 3 Control of deflection angle and reflected light C 1 (and visible light A 1 ) can be controlled at the same time, which reduces processing time.

[0075] Moreover, the control unit 52 controls the detection observation optical system 22d as described above, so that the object analyzed by the analysis unit 51 is imaged at the center of the imaging area of ​​the imaging unit 30. By imaging the object at the center of the imaging area in this manner, the detection accuracy is improved.

[0076] The correction lenses 14 and 23 may be variable angle prisms that are controlled by the control unit 52 and deform asymmetrically about the central axis.

[0077] In the distance measurement device 120 according to the second modification, the imaging unit 30 captures an image of the object, and the detection unit 22 detects light B 3 Reflected light C from the target object is generated by projecting 1 Instead, the imaging unit 30 captures an image of the object and detects light B. 3 Reflected light C from the target object is generated by projecting 1 It is also possible to adopt a configuration in which the above-mentioned detection is performed. The correction lenses 14 and 23 may also be used to control camera shake correction of the aircraft. In addition, the imaging unit 30 is driven by a driving device (not shown) so as to move along the reference axis L 10 The object may be controlled to be positioned at the center of the image by shifting the object in a plane perpendicular to the center of the image.

[0078] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the description of the claims that such modifications and improvements can also be included in the technical scope of the present invention.

[0079] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and may be realized in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, it does not mean that it is essential to perform the process in this order. [Explanation of symbols]

[0080] 10...light projecting unit, 10d...light projecting unit, 11...light source, 12, 12d...light projecting observation optical system, 12dd...light projecting optical system, 13...mirror, 13a...dichroic reflecting surface, 13b...driver, 14...correction lens, 14a...lens element, 14b...driver, 15...objective lens, 20, 20d...detecting unit, 21...light receiving lens, 22...detecting element, 22d...detection observation optical system, 23...correction lens, 23a...lens element, 23b...driver, 24...mirror r, 24a...dichroic reflecting surface, 30, 30d...imaging unit, 51...analysis unit, 52...control unit, 61...processing unit, 62...calculation unit, 70...display unit, 71...display device, 71a...display screen, 72...touch detection sensor, 100, 110, 120...distance measuring device, 200...captured image, 201...cup, 202...pin flag, 210...green, 220...banka, 230...forest, 240, 242, 246...mark, 244...area, A1 , A 2 , A 3 … visible light, B 1 , B 2 , B 3 … light, C 1 , C 2 , C 3 … reflected light, L 10 , L 20 … reference axis.

Claims

1. A distance measuring device that projects light to measure a distance to an object, an imaging unit that images the object via an imaging optical system; an analysis unit that detects a deviation of the object with respect to a reference axis of a first optical system used for projecting the light based on an imaging result obtained by the imaging unit; a control unit that displaces a lens element included in the first optical system so as to deflect the light in a direction determined based on a detection result of the deviation of the object; a light projection unit that projects the light onto the object via the first optical system; a processing unit that determines a distance to the object based on a detection result of reflected light generated by projecting the light onto the object by the light projecting unit via a second optical system; and wherein the imaging optical system is common to at least a part of the first optical system or the second optical system.

2. The distance measurement device according to claim 1 , wherein the imaging optical system is at least partially common to the first optical system.

3. the imaging optical system is common to at least a part of the second optical system, The control unit further displaces a lens element included in the second optical system with respect to a reference axis of the second optical system to tilt a light-accepting angle of the reflected light.

2. A distance measuring device according to claim 1.

4. 4. The distance measuring device according to claim 3, wherein the deflection angle of the light and the change in the acceptance angle of the reflected light are controlled equally.

5. The distance measurement device according to claim 1 , wherein a part of the first optical system or the second optical system is used for controlling image stabilization of a body of the distance measurement device.

6. The distance measurement device according to claim 1 , wherein the imaging section further detects reflected light from the object.

7. The distance measuring device according to claim 1 , further comprising a detection unit that detects reflected light from the object.

8. The distance measuring device according to claim 1 , wherein the analysis unit is configured to analyze an image of the object in the imaging result to identify the object.

9. The analysis unit analyzes the image of the object based on a machine learning model, The distance measuring device according to claim 8 , wherein the machine learning model is constructed in advance by machine learning using an image of an object to be measured for distance as training data.

10. The analysis unit analyzes the image of the object by an image processing method, The image processing method includes at least an edge detection method.

9. A distance measuring device according to claim 8.

11. The distance measuring device according to claim 8 , wherein the analysis unit identifies the object at a center of an image.

12. The imaging unit captures images of the object multiple times at different times, The analysis unit identifies the object based on an image difference between the plurality of images. Distance measuring device according to any one of claims 8 to 11.

13. The analysis unit analyzes an image of the object to identify the object, The control unit controls the light to scan the identified object using the light; The distance measuring device according to claim 8 , wherein the processing unit determines the distance to the object based on a relationship between a scanning position of the object by the light and a detection result of the reflected light.

14. A display unit that displays an image of the object obtained by the imaging unit on a display screen, the display screen includes a touch detection sensor that detects a touch operation by a user; 14. The distance measuring device according to claim 1, wherein the control unit controls the light to project the light onto at least one location included in the image when the at least one location is selected by a touch operation on the display screen.

15. The distance measuring device according to claim 14, further comprising a calculation unit that calculates, when multiple locations included in the image are selected by a touch operation on the display screen, a distance to the multiple locations, or a distance and / or an area between the multiple locations.

16. A distance measuring device described in any one of claims 1 to 15, wherein at least one of the first optical system and the second optical system further includes at least one of a prism that can be displaced and / or rotated with respect to a reference axis of the one optical system and a mirror that tilts with respect to the reference axis.

17. The distance measurement device according to claim 1 , wherein the light projecting section projects the light onto the object after the imaging section captures an image of the object.

18. 18. The distance measurement device according to claim 1, wherein the light projection unit projects the light onto the object after the object is imaged by the imaging unit, thereby shifting the timing of imaging the object and the projection of the light.

19. A driving device for driving the lens element is further provided, The distance measurement device according to claim 1 , wherein the control unit controls the driving device to displace the lens element.

20. A distance measurement method for measuring a distance to an object by projecting light, comprising the steps of: imaging the object via an imaging optical system; detecting a deviation of the object from a reference axis of a first optical system used for projecting the light based on an imaging result obtained by the imaging step; displacing a lens element included in the first optical system so as to deflect the light in a direction determined based on a detection result of the displacement of the object; projecting the light onto the object via the first optical system; and determining a distance to the object based on a detection result, via a second optical system, of reflected light generated by projecting the light onto the object in the projecting step, The imaging optical system is common to at least a part of the first optical system or the second optical system. Distance measurement method.

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